Pub Date : 2023-07-01DOI: 10.1109/CACRE58689.2023.10208952
Huimin Yu, H. Zhao
With the continuous development of high and new technology in China, the research and development methods of aviation products are also developing towards integration, informatization and intelligence. The role and position of logistics system in aerospace manufacturing industry is particularly prominent. Boeing, Airbus and other large aviation enterprises are also developing intelligent manufacturing plans, focusing on the system integration of intelligent manufacturing technology and intelligent logistics system, and applying the concept of intelligent logistics to all stages of the intelligent manufacturing industry. Therefore, this paper designs a production logistics intelligent distribution system based on cloud-side dynamic collaboration, which links the staff involved in the aircraft assembly workshop, the parts and equipment required for assembly, and establishes a complete set of data management acquisition, management and control platform software for the aircraft assembly workshop. It provides a set of aircraft assembly site manufacturing platform based on intelligent technologies such as the Internet of Things, intelligent manufacturing and big data for the aircraft assembly manufacturing workshop. The platform integrates a series of intelligent production line (workshop) functions such as information collection, storage, management, control, information processing (analysis) and use, and is a systematic solution, which effectively realizes the real-time monitoring of assembly elements required by the assembly site Record and trace the whole process of aircraft assembly, and provide accurate and complete assembly information on the assembly site. At the same time, intelligent logistics can bring automated and intelligent management methods and decision-making basis for aerospace maintenance enterprises by using big data services.
{"title":"Research on Storage AGV System Based on Cloud Edge Collaboration","authors":"Huimin Yu, H. Zhao","doi":"10.1109/CACRE58689.2023.10208952","DOIUrl":"https://doi.org/10.1109/CACRE58689.2023.10208952","url":null,"abstract":"With the continuous development of high and new technology in China, the research and development methods of aviation products are also developing towards integration, informatization and intelligence. The role and position of logistics system in aerospace manufacturing industry is particularly prominent. Boeing, Airbus and other large aviation enterprises are also developing intelligent manufacturing plans, focusing on the system integration of intelligent manufacturing technology and intelligent logistics system, and applying the concept of intelligent logistics to all stages of the intelligent manufacturing industry. Therefore, this paper designs a production logistics intelligent distribution system based on cloud-side dynamic collaboration, which links the staff involved in the aircraft assembly workshop, the parts and equipment required for assembly, and establishes a complete set of data management acquisition, management and control platform software for the aircraft assembly workshop. It provides a set of aircraft assembly site manufacturing platform based on intelligent technologies such as the Internet of Things, intelligent manufacturing and big data for the aircraft assembly manufacturing workshop. The platform integrates a series of intelligent production line (workshop) functions such as information collection, storage, management, control, information processing (analysis) and use, and is a systematic solution, which effectively realizes the real-time monitoring of assembly elements required by the assembly site Record and trace the whole process of aircraft assembly, and provide accurate and complete assembly information on the assembly site. At the same time, intelligent logistics can bring automated and intelligent management methods and decision-making basis for aerospace maintenance enterprises by using big data services.","PeriodicalId":447007,"journal":{"name":"2023 8th International Conference on Automation, Control and Robotics Engineering (CACRE)","volume":"53 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123940158","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}
Gas Insulated Switchgear (GIS) equipment is an important substation device in the power system and plays an indispensable role in maintaining the operation of the power system. However, GIS equipment is prone to ablation defects and some foreign objects during long-term operation, thus affecting the normal operation of the power system. Aiming at the problems of low efficiency and easy-to-miss detection in manual inspection.This paper proposes a single-stage object detection model REP-YOLOX, which is based on structural re-parameterization and attention mechanisms technology. Firstly, we combine dilated convolution and standard convolution to extract features and obtain larger receptive fields. Then, in the Neck layer of the model, the Mask Conv block module is used to enhance the feature extraction ability under occlusion. Finally, the Transformer module is used in the prediction layer of the model to weigh the global features and predict the results through the full connection layer. Experimental results show that the model can achieve 99.14% mAP50 in the GIS equipment defect detection task, which indicates it can complete GIS equipment defect detection task well.
{"title":"REP-YOLOX: An Efficient Model for Defect Detection in Gas Insulated Switchgear Equipment","authors":"Fei Li, Xuejie Yang, Hui Gao, Zengwei Yue, Jianfeng Yu, Teng He, Tianfei Guo, Xuke Zhong","doi":"10.1109/CACRE58689.2023.10208561","DOIUrl":"https://doi.org/10.1109/CACRE58689.2023.10208561","url":null,"abstract":"Gas Insulated Switchgear (GIS) equipment is an important substation device in the power system and plays an indispensable role in maintaining the operation of the power system. However, GIS equipment is prone to ablation defects and some foreign objects during long-term operation, thus affecting the normal operation of the power system. Aiming at the problems of low efficiency and easy-to-miss detection in manual inspection.This paper proposes a single-stage object detection model REP-YOLOX, which is based on structural re-parameterization and attention mechanisms technology. Firstly, we combine dilated convolution and standard convolution to extract features and obtain larger receptive fields. Then, in the Neck layer of the model, the Mask Conv block module is used to enhance the feature extraction ability under occlusion. Finally, the Transformer module is used in the prediction layer of the model to weigh the global features and predict the results through the full connection layer. Experimental results show that the model can achieve 99.14% mAP50 in the GIS equipment defect detection task, which indicates it can complete GIS equipment defect detection task well.","PeriodicalId":447007,"journal":{"name":"2023 8th International Conference on Automation, Control and Robotics Engineering (CACRE)","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122797187","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-07-01DOI: 10.1109/CACRE58689.2023.10208567
Shuai Zhou, Xiaosu Xu, M. Zhong
The paper proposes a path planning method based on a simplified visibility graph (SVG) and support vector machine (SVM). Firstly, the centroid point set of polygon obstacles is used to construct a Delaunay triangulation network. Then, all neighbors of each obstacle are obtained from the Delaunay triangulation network to construct neighbor pairs. A global environmental SVG is then constructed by simplifying the visibility relationships between vertices of neighbor obstacle pairs. Next, the start and goal points are maintained in the SVG and the path is planned using Dijkstra’s algorithm and pruning method. Additionally, an elliptical window is generated based on the globally planned path. The obstacles and the boundary of the ellipse are classified into positive and negative samples, respectively. A safe and smooth path is obtained by training the SVM based on the radial basis function (RBF). The simulation experiments show that, compared with traditional methods, the proposed method based on the Delaunay triangulation reduces the number of visual edges by more than 40% and reduces cost time by over 50%. What’s more, the optimized path obtained through the SVM is sufficiently smooth and safe.
{"title":"A Path Planning Method Based on Simplified Visibility Graph and Support Vector Machine","authors":"Shuai Zhou, Xiaosu Xu, M. Zhong","doi":"10.1109/CACRE58689.2023.10208567","DOIUrl":"https://doi.org/10.1109/CACRE58689.2023.10208567","url":null,"abstract":"The paper proposes a path planning method based on a simplified visibility graph (SVG) and support vector machine (SVM). Firstly, the centroid point set of polygon obstacles is used to construct a Delaunay triangulation network. Then, all neighbors of each obstacle are obtained from the Delaunay triangulation network to construct neighbor pairs. A global environmental SVG is then constructed by simplifying the visibility relationships between vertices of neighbor obstacle pairs. Next, the start and goal points are maintained in the SVG and the path is planned using Dijkstra’s algorithm and pruning method. Additionally, an elliptical window is generated based on the globally planned path. The obstacles and the boundary of the ellipse are classified into positive and negative samples, respectively. A safe and smooth path is obtained by training the SVM based on the radial basis function (RBF). The simulation experiments show that, compared with traditional methods, the proposed method based on the Delaunay triangulation reduces the number of visual edges by more than 40% and reduces cost time by over 50%. What’s more, the optimized path obtained through the SVM is sufficiently smooth and safe.","PeriodicalId":447007,"journal":{"name":"2023 8th International Conference on Automation, Control and Robotics Engineering (CACRE)","volume":"114 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115581564","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-07-01DOI: 10.1109/CACRE58689.2023.10208427
Han Liu, J. Duan, Zhufeng Shao, Zhaokun Zhang, Jing Rao
Tanker ship is an important transportation equipment for petroleum. Due to the strong permeability and solubility of refined oil product, the high-quality inner wall special coating of tanker ships needs to be carried out regularly, which relies on manual operation with poor working conditions in confined space, high labor intensity, long cycle and fluctuating coating quality. This paper designs a lightweight rigid-flexible robot with a cable-driven parallel robot (CDPR) and a symmetric mechanical arm in series. The workspace analysis of the CDPR is completed based on kinematic and static modeling. The size of the symmetric mechanical arm and the terminal reachability are analyzed considering the interference. The results show that the proposed rigid-flexible cable robot can cover all the areas to be coated, which provides a new automatic solution for the inner wall special coating of tanker ships.
{"title":"Reachability Analysis of a Rigid-Flexible Cable Robot for Interior Coating of Tanker Ships","authors":"Han Liu, J. Duan, Zhufeng Shao, Zhaokun Zhang, Jing Rao","doi":"10.1109/CACRE58689.2023.10208427","DOIUrl":"https://doi.org/10.1109/CACRE58689.2023.10208427","url":null,"abstract":"Tanker ship is an important transportation equipment for petroleum. Due to the strong permeability and solubility of refined oil product, the high-quality inner wall special coating of tanker ships needs to be carried out regularly, which relies on manual operation with poor working conditions in confined space, high labor intensity, long cycle and fluctuating coating quality. This paper designs a lightweight rigid-flexible robot with a cable-driven parallel robot (CDPR) and a symmetric mechanical arm in series. The workspace analysis of the CDPR is completed based on kinematic and static modeling. The size of the symmetric mechanical arm and the terminal reachability are analyzed considering the interference. The results show that the proposed rigid-flexible cable robot can cover all the areas to be coated, which provides a new automatic solution for the inner wall special coating of tanker ships.","PeriodicalId":447007,"journal":{"name":"2023 8th International Conference on Automation, Control and Robotics Engineering (CACRE)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128506724","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-07-01DOI: 10.1109/CACRE58689.2023.10208790
Jianing Yin, R. Yao, P. Jiang
The Five-hundred-meter Aperture Spherical radio Telescope (FAST) is the largest single dish and most sensitive radio telescope in the world. As the number and difficulty of observation tasks increase year by year, it is decided to further improve the performance of FAST. Therefore, a new redundant configuration of the FAST feed cabin has been designed. This paper discusses the modeling of such redundant configuration and the analytical optimization method with 2 kinds of constrains. Then after simulation calculation, an excellent optimization result is obtained. It proves that at least 50° observation zenith angle can be achieved, which means that astronomical phenomena near the galactic center can be observed. The results provide the important foundation for the FAST’s future upgrade.
{"title":"Analytical Optimization Method for the New Redundant Configuration of the FAST Feed Cabin","authors":"Jianing Yin, R. Yao, P. Jiang","doi":"10.1109/CACRE58689.2023.10208790","DOIUrl":"https://doi.org/10.1109/CACRE58689.2023.10208790","url":null,"abstract":"The Five-hundred-meter Aperture Spherical radio Telescope (FAST) is the largest single dish and most sensitive radio telescope in the world. As the number and difficulty of observation tasks increase year by year, it is decided to further improve the performance of FAST. Therefore, a new redundant configuration of the FAST feed cabin has been designed. This paper discusses the modeling of such redundant configuration and the analytical optimization method with 2 kinds of constrains. Then after simulation calculation, an excellent optimization result is obtained. It proves that at least 50° observation zenith angle can be achieved, which means that astronomical phenomena near the galactic center can be observed. The results provide the important foundation for the FAST’s future upgrade.","PeriodicalId":447007,"journal":{"name":"2023 8th International Conference on Automation, Control and Robotics Engineering (CACRE)","volume":"78 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127710786","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-07-01DOI: 10.1109/CACRE58689.2023.10208473
Ching-Nung Yang, Hung-Yi Lin, Chang-Ji Wang
Via wireless sensor network (WSN), data are collected through secure links to backend database. To ensure data security and privacy during data aggregation in WSN, key pre-distribution (KP) is often used to establish secure links between two neighbor nodes in WSN. Most KPs deal with resiliency against node capture attack (NA) and the link connectivity. For further enhancing resiliency, hash chain based KP (HCKP) scheme is proposed. Recently, the notion of advanced NA (ANA) is introduced, on which HCKP schemes are compromised. The diagonal layer based HCKP (DL-HCKP) is accordingly proposed to resist ANA. However, its hash function should be commutative. In this paper, we use common hash functions (e.g., SHA-like functions) instead of commutative function to propose the bidirectional HCKP (BI-HCKP) to achieve more practicability and applicability. Our BI-HCKP still has ANA resiliency, and moreover improves ANA resiliency and provides the adaptive resiliency on NA and ANA.
{"title":"Bidirectional Hash Chain Based Key Pre-distribution for Wireless Sensor Networks","authors":"Ching-Nung Yang, Hung-Yi Lin, Chang-Ji Wang","doi":"10.1109/CACRE58689.2023.10208473","DOIUrl":"https://doi.org/10.1109/CACRE58689.2023.10208473","url":null,"abstract":"Via wireless sensor network (WSN), data are collected through secure links to backend database. To ensure data security and privacy during data aggregation in WSN, key pre-distribution (KP) is often used to establish secure links between two neighbor nodes in WSN. Most KPs deal with resiliency against node capture attack (NA) and the link connectivity. For further enhancing resiliency, hash chain based KP (HCKP) scheme is proposed. Recently, the notion of advanced NA (ANA) is introduced, on which HCKP schemes are compromised. The diagonal layer based HCKP (DL-HCKP) is accordingly proposed to resist ANA. However, its hash function should be commutative. In this paper, we use common hash functions (e.g., SHA-like functions) instead of commutative function to propose the bidirectional HCKP (BI-HCKP) to achieve more practicability and applicability. Our BI-HCKP still has ANA resiliency, and moreover improves ANA resiliency and provides the adaptive resiliency on NA and ANA.","PeriodicalId":447007,"journal":{"name":"2023 8th International Conference on Automation, Control and Robotics Engineering (CACRE)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130104375","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-07-01DOI: 10.1109/CACRE58689.2023.10208667
Guiyang Zhang, Lingyu Zhu, Siyu Ji, Xu Wu
This paper proposes a strategy based on cooperative target to realize automatic guided vehicle (AGV) terminal detection and position measurement. Firstly, the enhanced YOLOv3 algorithm based on cross layer connection is employed to detect the interest area of the marker points, upon which more refined local features are restored to improve the adaptability to small targets. Then, a high-precision 3D reconstruction with the aid of the ellipse center coordinates is demonstrated to ensure the reliability and avoid the loss of targets due to the failure of landmarks caused by environmental factors. The experimental results revealed that the positioning accuracy error is less than 1.5mm and the misrecognition rate is superior to 1% whilst the AGV is within 5m from the target. Consequently, the proposed approach has the crucial application in rapid and stable AGV terminal vision positioning.
{"title":"Target Detection and Position Measurement Based on Machine Vision for AGV","authors":"Guiyang Zhang, Lingyu Zhu, Siyu Ji, Xu Wu","doi":"10.1109/CACRE58689.2023.10208667","DOIUrl":"https://doi.org/10.1109/CACRE58689.2023.10208667","url":null,"abstract":"This paper proposes a strategy based on cooperative target to realize automatic guided vehicle (AGV) terminal detection and position measurement. Firstly, the enhanced YOLOv3 algorithm based on cross layer connection is employed to detect the interest area of the marker points, upon which more refined local features are restored to improve the adaptability to small targets. Then, a high-precision 3D reconstruction with the aid of the ellipse center coordinates is demonstrated to ensure the reliability and avoid the loss of targets due to the failure of landmarks caused by environmental factors. The experimental results revealed that the positioning accuracy error is less than 1.5mm and the misrecognition rate is superior to 1% whilst the AGV is within 5m from the target. Consequently, the proposed approach has the crucial application in rapid and stable AGV terminal vision positioning.","PeriodicalId":447007,"journal":{"name":"2023 8th International Conference on Automation, Control and Robotics Engineering (CACRE)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130948606","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-07-01DOI: 10.1109/CACRE58689.2023.10208630
T. Ojo, H. Chi, Emmanuel Hilliard, Jie Yan
Unmanned Aerial Vehicles have increased their applicability in evidence gathering for collecting digital evidence. Authenticating this evidence depends on the crime scenario and the type of drones used. With drones, the evidence type could be the GPS location, the communication signal, the flight log, and the multimedia evidence. These are forms of evidence that forensic experts use to finalize crime cases. Analyzing this evidence requires expensive forensic toolsets. This paper will investigate the level of accuracy and performance verification of machine learning algorithms such as Convolutional Neural Networks (CNN), Support Vector Machines (SVM), and Long Short-Term Memory (LSTM) can reach in identifying vehicle information and the details of the people inside the vehicle at the crime scene and starting with the level of identifying the minute details for the investigation. The performance of the machine learning algorithms will analyze the evidence for deepfakes and possible manipulations in the evidence gathered.
{"title":"Crime Scene Prediction for Unmanned Aerial Vehicles Investigation via Machine Learning","authors":"T. Ojo, H. Chi, Emmanuel Hilliard, Jie Yan","doi":"10.1109/CACRE58689.2023.10208630","DOIUrl":"https://doi.org/10.1109/CACRE58689.2023.10208630","url":null,"abstract":"Unmanned Aerial Vehicles have increased their applicability in evidence gathering for collecting digital evidence. Authenticating this evidence depends on the crime scenario and the type of drones used. With drones, the evidence type could be the GPS location, the communication signal, the flight log, and the multimedia evidence. These are forms of evidence that forensic experts use to finalize crime cases. Analyzing this evidence requires expensive forensic toolsets. This paper will investigate the level of accuracy and performance verification of machine learning algorithms such as Convolutional Neural Networks (CNN), Support Vector Machines (SVM), and Long Short-Term Memory (LSTM) can reach in identifying vehicle information and the details of the people inside the vehicle at the crime scene and starting with the level of identifying the minute details for the investigation. The performance of the machine learning algorithms will analyze the evidence for deepfakes and possible manipulations in the evidence gathered.","PeriodicalId":447007,"journal":{"name":"2023 8th International Conference on Automation, Control and Robotics Engineering (CACRE)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134127577","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-07-01DOI: 10.1109/CACRE58689.2023.10208636
Yihe Li, Zhouhua Peng, Lu Liu, H. Wang, Nan Gu, Anqing Wang, Dan Wang
This paper presents a maritime path planning algorithm for autonomous surface vehicles (ASVs). A improved RRT algorithm for generating sample nodes is proposed. The HOCBF-RRT algorithm leverages high order control barrier functions (HOCBFs) to take into account the dynamics of the ASV and produce a path that prioritizes safety. In addition, to complete the path optimization, combined with control Lyapunov functions (CLFs), the expansion to the target point is accelerated and the planning time is reduced. In simulation experiments, it is observed that the HOCBF-RRT algorithm and HOCBF-CLF-RRT algorithm offer improvements over traditional RRT algorithms. Specifically, the HOCBF-RRT algorithm is found to enhance the smoothness of paths, while the HOCBF-CLF-RRT algorithm effectively optimizes the expansion of the random tree towards the target point.
{"title":"Safety-Critical Path Planning of Autonomous Surface Vehicles Based on Rapidly-Exploring Random Tree Algorithm and High Order Control Barrier Functions","authors":"Yihe Li, Zhouhua Peng, Lu Liu, H. Wang, Nan Gu, Anqing Wang, Dan Wang","doi":"10.1109/CACRE58689.2023.10208636","DOIUrl":"https://doi.org/10.1109/CACRE58689.2023.10208636","url":null,"abstract":"This paper presents a maritime path planning algorithm for autonomous surface vehicles (ASVs). A improved RRT algorithm for generating sample nodes is proposed. The HOCBF-RRT algorithm leverages high order control barrier functions (HOCBFs) to take into account the dynamics of the ASV and produce a path that prioritizes safety. In addition, to complete the path optimization, combined with control Lyapunov functions (CLFs), the expansion to the target point is accelerated and the planning time is reduced. In simulation experiments, it is observed that the HOCBF-RRT algorithm and HOCBF-CLF-RRT algorithm offer improvements over traditional RRT algorithms. Specifically, the HOCBF-RRT algorithm is found to enhance the smoothness of paths, while the HOCBF-CLF-RRT algorithm effectively optimizes the expansion of the random tree towards the target point.","PeriodicalId":447007,"journal":{"name":"2023 8th International Conference on Automation, Control and Robotics Engineering (CACRE)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114370283","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}
The integrated calibration method of micro-nano satellite attitude benchmark is studied. Considering the magnetic effects and residual magnetism caused by the complex magnetic environment of the satellite, an accurate measurement model for magnetometers was adopted. By using the relationship between the measured and theoretical values of the geomagnetic field, the residual magnetism and magnetic sensitivity coefficients in the magnetometer measurement model were calibrated, through the least square method of uncertain parameters of the calibration. After modeling the installation error of the solar sensor, the calibration of the solar sensor is completed, so as to realize the integrated calibration of the attitude benchmark of the micro-nano satellite. Finally, this article conducted ground experiments using telemetry data from an in orbit satellite. The experimental results showed that the proposed method reduced sensor measurement errors, improved sensor benchmark consistency, and improved attitude determination accuracy from around 10 degrees to better than 0.2 degrees, verifying the effectiveness of the proposed method.
{"title":"An Integrated Calibration Scheme for Attitude Benchmark of Micro-nano Satellites and Its Experiments Based on In-Orbit Data","authors":"Mingqun Li, Tong Luo, Shaokai Wang, He Li, Yongjun Lei, Qinghua Jiang","doi":"10.1109/CACRE58689.2023.10209041","DOIUrl":"https://doi.org/10.1109/CACRE58689.2023.10209041","url":null,"abstract":"The integrated calibration method of micro-nano satellite attitude benchmark is studied. Considering the magnetic effects and residual magnetism caused by the complex magnetic environment of the satellite, an accurate measurement model for magnetometers was adopted. By using the relationship between the measured and theoretical values of the geomagnetic field, the residual magnetism and magnetic sensitivity coefficients in the magnetometer measurement model were calibrated, through the least square method of uncertain parameters of the calibration. After modeling the installation error of the solar sensor, the calibration of the solar sensor is completed, so as to realize the integrated calibration of the attitude benchmark of the micro-nano satellite. Finally, this article conducted ground experiments using telemetry data from an in orbit satellite. The experimental results showed that the proposed method reduced sensor measurement errors, improved sensor benchmark consistency, and improved attitude determination accuracy from around 10 degrees to better than 0.2 degrees, verifying the effectiveness of the proposed method.","PeriodicalId":447007,"journal":{"name":"2023 8th International Conference on Automation, Control and Robotics Engineering (CACRE)","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114572572","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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