Pub Date : 2020-09-01DOI: 10.1109/CACRE50138.2020.9229998
Yu Wang, Zhipeng Shen, Qun Wang, Haomiao Yu
This paper focuses on fixed-time formation control of a crowd of fully actuated surface vessels with input constraint and complex unknowns. First, an adaptive auxiliary system is introduced for each vessel to conquer the harmful effects caused by input saturation. Second, so as to enhance the robustness and anti-interference ability, the predictor-based neural network is utilized to estimate the unknowns, and adaptive laws are designed to evaluate bounds of neural network errors. Third, considering the timing requirement, a fixed-time formation protocol is proposed by using a novel fixed-time convergence nonsingular terminal sliding mode. Not only the trajectory tracking errors of single vessel and cooperative errors between vessels, but also the relationship between position and velocity errors is considered in the sliding mode. It can be proved that the proposed protocol can make the above-mentioned errors converge to a tiny neighborhood near zero in a fixed time. Simulation studies based on four supply vessels are comprehensively provided to confirm the effectiveness of the proposed protocol.
{"title":"Fixed-time formation control of fully-actuated surface vessels with input saturation and complex unknowns*","authors":"Yu Wang, Zhipeng Shen, Qun Wang, Haomiao Yu","doi":"10.1109/CACRE50138.2020.9229998","DOIUrl":"https://doi.org/10.1109/CACRE50138.2020.9229998","url":null,"abstract":"This paper focuses on fixed-time formation control of a crowd of fully actuated surface vessels with input constraint and complex unknowns. First, an adaptive auxiliary system is introduced for each vessel to conquer the harmful effects caused by input saturation. Second, so as to enhance the robustness and anti-interference ability, the predictor-based neural network is utilized to estimate the unknowns, and adaptive laws are designed to evaluate bounds of neural network errors. Third, considering the timing requirement, a fixed-time formation protocol is proposed by using a novel fixed-time convergence nonsingular terminal sliding mode. Not only the trajectory tracking errors of single vessel and cooperative errors between vessels, but also the relationship between position and velocity errors is considered in the sliding mode. It can be proved that the proposed protocol can make the above-mentioned errors converge to a tiny neighborhood near zero in a fixed time. Simulation studies based on four supply vessels are comprehensively provided to confirm the effectiveness of the proposed protocol.","PeriodicalId":325195,"journal":{"name":"2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124315315","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 : 2020-09-01DOI: 10.1109/CACRE50138.2020.9230327
Lin Liu, Yun Sha, Qingfei Zhang
Bearings as an important component in the mechanical industry, its fault diagnosis is significant. The support vector machine (SVM) has a good effect in solving small sample, nonlinear and other problems. This paper optimizes the penalty function and sum function of the support vector machine based on the improved harmonic search algorithm, which effectively improves the accuracy of classification. The experimental shows that the algorithm in this paper has obvious classification effect and practicality.
{"title":"Bearing fault diagnosis analysis based on improved adaptive search algorithms and SVMs","authors":"Lin Liu, Yun Sha, Qingfei Zhang","doi":"10.1109/CACRE50138.2020.9230327","DOIUrl":"https://doi.org/10.1109/CACRE50138.2020.9230327","url":null,"abstract":"Bearings as an important component in the mechanical industry, its fault diagnosis is significant. The support vector machine (SVM) has a good effect in solving small sample, nonlinear and other problems. This paper optimizes the penalty function and sum function of the support vector machine based on the improved harmonic search algorithm, which effectively improves the accuracy of classification. The experimental shows that the algorithm in this paper has obvious classification effect and practicality.","PeriodicalId":325195,"journal":{"name":"2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131340870","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 : 2020-09-01DOI: 10.1109/cacre50138.2020.9230295
{"title":"Sponsors & Supporter","authors":"","doi":"10.1109/cacre50138.2020.9230295","DOIUrl":"https://doi.org/10.1109/cacre50138.2020.9230295","url":null,"abstract":"","PeriodicalId":325195,"journal":{"name":"2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130041751","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 : 2020-09-01DOI: 10.1109/CACRE50138.2020.9230022
H. Geng, Yifan Hu, Hailin Liu, Jie Chen, Lin Cao, Hui Li
Aiming at the problems of low accuracy, slow convergence and poor robustness of traditional neural network water quality prediction method, a dissolved oxygen content prediction model based on combining algorithm of improved Fruit fly optimization algorithm and BP neural network (IFOABP) is proposed. The best combination of weights and biases parameters of BP neural network is obtained by improved Fruit fly optimization algorithm, and the prediction model of dissolved oxygen content in water quality is established. The model is applied to the prediction and analysis of dissolved oxygen in Zhangjialou Breeding Base in Qingdao. The experimental results show that the model has better prediction effect than BP neural network, FOA-BP and GA-BP. The mean absolute percentage error (MAPE), root mean square error (RMSE), mean absolute error (MAE) and determination coefficient (R2) of IFOA-BP are 0.4013 and 0.1346, 0.0626, 0.9989. The BP neural network optimized in this paper not only has fast convergence speed and high prediction accuracy, but also provides a reliable decision basis for dissolved oxygen control in intensive aquaculture water.
{"title":"Study on Prediction of Dissolved Oxygen Content in Aquaculture Water","authors":"H. Geng, Yifan Hu, Hailin Liu, Jie Chen, Lin Cao, Hui Li","doi":"10.1109/CACRE50138.2020.9230022","DOIUrl":"https://doi.org/10.1109/CACRE50138.2020.9230022","url":null,"abstract":"Aiming at the problems of low accuracy, slow convergence and poor robustness of traditional neural network water quality prediction method, a dissolved oxygen content prediction model based on combining algorithm of improved Fruit fly optimization algorithm and BP neural network (IFOABP) is proposed. The best combination of weights and biases parameters of BP neural network is obtained by improved Fruit fly optimization algorithm, and the prediction model of dissolved oxygen content in water quality is established. The model is applied to the prediction and analysis of dissolved oxygen in Zhangjialou Breeding Base in Qingdao. The experimental results show that the model has better prediction effect than BP neural network, FOA-BP and GA-BP. The mean absolute percentage error (MAPE), root mean square error (RMSE), mean absolute error (MAE) and determination coefficient (R2) of IFOA-BP are 0.4013 and 0.1346, 0.0626, 0.9989. The BP neural network optimized in this paper not only has fast convergence speed and high prediction accuracy, but also provides a reliable decision basis for dissolved oxygen control in intensive aquaculture water.","PeriodicalId":325195,"journal":{"name":"2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE)","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133650684","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 : 2020-09-01DOI: 10.1109/CACRE50138.2020.9230016
Ye Zhu
Design a smart nightcap for people with sleep disorders and improve their sleep quality. Through the analysis of users’ emotional state data collected during the day and brain wave data obtained by the TGAM module at night, the sleep quality of users can be understood. The effects of hearing and smell on the brain have led to treatments. Playing five-element music and releasing the smell can promote the user to fall asleep quickly. Artificial Intelligence (AI) and big data can be used to analyse the sleep quality of users, and the smart nightcap can help users to fall into a deep sleep in a more efficient way according to their state of the day.
{"title":"Divcap: A Smart Nightcap that Promotes Sleep through the Five Senses","authors":"Ye Zhu","doi":"10.1109/CACRE50138.2020.9230016","DOIUrl":"https://doi.org/10.1109/CACRE50138.2020.9230016","url":null,"abstract":"Design a smart nightcap for people with sleep disorders and improve their sleep quality. Through the analysis of users’ emotional state data collected during the day and brain wave data obtained by the TGAM module at night, the sleep quality of users can be understood. The effects of hearing and smell on the brain have led to treatments. Playing five-element music and releasing the smell can promote the user to fall asleep quickly. Artificial Intelligence (AI) and big data can be used to analyse the sleep quality of users, and the smart nightcap can help users to fall into a deep sleep in a more efficient way according to their state of the day.","PeriodicalId":325195,"journal":{"name":"2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115329916","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 : 2020-09-01DOI: 10.1109/CACRE50138.2020.9230001
Xueling Luo, Xiaodong Jin, Dan Zhang, Qi Zou
Generalized parallel mechanisms become the refinement research result of the parallel mechanism study to overcome limits such as small rotational performance or low task specificity of traditional parallel mechanisms. Towards an effective control scheme for generalized parallel mechanisms is the key to promoting its future application. This paper is dedicated to visual-based control modelling of planar parallel robots. To overcome the challenge of end-effect pose estimation for the parallel mechanism, the control scheme is able to minimize the error of the end-effect of the mechanism through information obtained from a fixed visual system. The simulation and experiment results show the time efficiency and accuracy of the proposed control scheme that able to stabilize the system in a short time during the motion control.
{"title":"Vision-based Control Approach for Generalized Planar Parallel Robots","authors":"Xueling Luo, Xiaodong Jin, Dan Zhang, Qi Zou","doi":"10.1109/CACRE50138.2020.9230001","DOIUrl":"https://doi.org/10.1109/CACRE50138.2020.9230001","url":null,"abstract":"Generalized parallel mechanisms become the refinement research result of the parallel mechanism study to overcome limits such as small rotational performance or low task specificity of traditional parallel mechanisms. Towards an effective control scheme for generalized parallel mechanisms is the key to promoting its future application. This paper is dedicated to visual-based control modelling of planar parallel robots. To overcome the challenge of end-effect pose estimation for the parallel mechanism, the control scheme is able to minimize the error of the end-effect of the mechanism through information obtained from a fixed visual system. The simulation and experiment results show the time efficiency and accuracy of the proposed control scheme that able to stabilize the system in a short time during the motion control.","PeriodicalId":325195,"journal":{"name":"2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE)","volume":"12 12","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120865620","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 : 2020-09-01DOI: 10.1109/CACRE50138.2020.9230227
Min Huang, Chuanwei Zhu, Fengmin Zhao
To evaluate the performances of flight control systems (FCSs) with the hardware-in-the-loop simulation (HILS), a hardware-in-the-loop simulation method was proposed in this paper. Firstly, a HILS system for the evaluation of FCS was introduced. And the comparisons between the HILS and the mathematical simulation were performed to show the advantages of HILS in the evaluation of FCS. Then, a HILS method for the evaluation of FCS was proposed to show how to evaluate FCS performances with the HILS system, including the HILS test method, the HILS test result analysis and evaluation method.
{"title":"A hardware-in-the-loop simulation method for the evaluation of flight control systems","authors":"Min Huang, Chuanwei Zhu, Fengmin Zhao","doi":"10.1109/CACRE50138.2020.9230227","DOIUrl":"https://doi.org/10.1109/CACRE50138.2020.9230227","url":null,"abstract":"To evaluate the performances of flight control systems (FCSs) with the hardware-in-the-loop simulation (HILS), a hardware-in-the-loop simulation method was proposed in this paper. Firstly, a HILS system for the evaluation of FCS was introduced. And the comparisons between the HILS and the mathematical simulation were performed to show the advantages of HILS in the evaluation of FCS. Then, a HILS method for the evaluation of FCS was proposed to show how to evaluate FCS performances with the HILS system, including the HILS test method, the HILS test result analysis and evaluation method.","PeriodicalId":325195,"journal":{"name":"2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE)","volume":"150 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116343987","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 : 2020-09-01DOI: 10.1109/CACRE50138.2020.9230289
Qingguang Yu, Yuming Liu, Zhicheng Jiang, G. Long
As of improving the automation level and the labor efficiency, yarn dropping robot takes an important role in the ring spinning textile machine. Design and implementation of a cascade vertical pulling artificial intelligent automatic yarn dropping robot in this paper. After researching of the yarn dropping process of ring spinning machines, the kinematics and dynamics analysis of the yarn dropping robot are put forward. The cascade vertical pulling strategy and the 3D circular arc interpolation algorithm and flying scissors algorithm of a 5-axis PAC control servo system is designed and implemented. The results of experiments and operating in the sites for years show high performance of the cascade vertical pulling artificial intelligent automatic yarn dropping robot for ring spinning.
{"title":"Design and Implementation of a Cascade Vertical Pulling Artificial Intelligent Automatic Yarn Dropping Robot","authors":"Qingguang Yu, Yuming Liu, Zhicheng Jiang, G. Long","doi":"10.1109/CACRE50138.2020.9230289","DOIUrl":"https://doi.org/10.1109/CACRE50138.2020.9230289","url":null,"abstract":"As of improving the automation level and the labor efficiency, yarn dropping robot takes an important role in the ring spinning textile machine. Design and implementation of a cascade vertical pulling artificial intelligent automatic yarn dropping robot in this paper. After researching of the yarn dropping process of ring spinning machines, the kinematics and dynamics analysis of the yarn dropping robot are put forward. The cascade vertical pulling strategy and the 3D circular arc interpolation algorithm and flying scissors algorithm of a 5-axis PAC control servo system is designed and implemented. The results of experiments and operating in the sites for years show high performance of the cascade vertical pulling artificial intelligent automatic yarn dropping robot for ring spinning.","PeriodicalId":325195,"journal":{"name":"2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123420882","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 : 2020-09-01DOI: 10.1109/CACRE50138.2020.9230210
Haifeng Ling, Hongchuan Luo, Linyuan Bai, Tao Zhu, Qing Wang, Jiang Yi
With the development of autonomous system, the operational use of loitering munition is shifting from the following of a pre-planned fixed route without communication to smart decision making and collaborative cooperation with sharing information. In this paper, we study the autonomous decision making and cooperative control strategy of online patrolling for a swarm of loitering munition using communication to coordinate their route based on maximizing the information they gathered in the operation region. Taking the non-Gaussian non-linear property of airborne radar seeker into account, we utilized a particle filter based method to evaluate or to predict the information quality of each action candidate. We also implemented a coordinate descent scheme to enable a distributed and scalable swarm decision making. Simulation results show that the proposed method provides a better estimation than baselines without the need for external or centralized decision agent.
{"title":"Information Gathering Based Autonomous Online Patrolling Route Planning for Cooperative Loitering Munition Swarm Using Particle Filtering","authors":"Haifeng Ling, Hongchuan Luo, Linyuan Bai, Tao Zhu, Qing Wang, Jiang Yi","doi":"10.1109/CACRE50138.2020.9230210","DOIUrl":"https://doi.org/10.1109/CACRE50138.2020.9230210","url":null,"abstract":"With the development of autonomous system, the operational use of loitering munition is shifting from the following of a pre-planned fixed route without communication to smart decision making and collaborative cooperation with sharing information. In this paper, we study the autonomous decision making and cooperative control strategy of online patrolling for a swarm of loitering munition using communication to coordinate their route based on maximizing the information they gathered in the operation region. Taking the non-Gaussian non-linear property of airborne radar seeker into account, we utilized a particle filter based method to evaluate or to predict the information quality of each action candidate. We also implemented a coordinate descent scheme to enable a distributed and scalable swarm decision making. Simulation results show that the proposed method provides a better estimation than baselines without the need for external or centralized decision agent.","PeriodicalId":325195,"journal":{"name":"2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124640274","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 : 2020-09-01DOI: 10.1109/CACRE50138.2020.9230126
Shaolong Han, Jinling Jian, Baoxin Ran
The damage of tobacco pests seriously restricts the high quality development of enterprises. The effective pest control is based on accurate and timely monitoring information of the pest, the traditional monitoring process for information of the pest has many problems, such as heavy workload, low efficiency and high error rate. In this paper, an efficient trapping and analysis system is designed, which consists of five modules: tobacco pests trapping, power supply voltage stabilization, image acquisition, wireless communication and image processing, all modules work together to catch tobacco pests automatically, take pictures of the trap board and upload them to the host computer, after image recognition, the number of tobacco pests is calculated, the result can guide us to take effective pest control work. The design of the system has improved the degree of automation and accuracy, reduce the manual workload and work efficiency has also been greatly improved.
{"title":"Design of an efficient trapping and analysis system for tobacco pests","authors":"Shaolong Han, Jinling Jian, Baoxin Ran","doi":"10.1109/CACRE50138.2020.9230126","DOIUrl":"https://doi.org/10.1109/CACRE50138.2020.9230126","url":null,"abstract":"The damage of tobacco pests seriously restricts the high quality development of enterprises. The effective pest control is based on accurate and timely monitoring information of the pest, the traditional monitoring process for information of the pest has many problems, such as heavy workload, low efficiency and high error rate. In this paper, an efficient trapping and analysis system is designed, which consists of five modules: tobacco pests trapping, power supply voltage stabilization, image acquisition, wireless communication and image processing, all modules work together to catch tobacco pests automatically, take pictures of the trap board and upload them to the host computer, after image recognition, the number of tobacco pests is calculated, the result can guide us to take effective pest control work. The design of the system has improved the degree of automation and accuracy, reduce the manual workload and work efficiency has also been greatly improved.","PeriodicalId":325195,"journal":{"name":"2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE)","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124785756","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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