Pub Date : 2019-06-06DOI: 10.1109/YAC.2019.8787627
X. Tang, Juan Li, Qihong Chen, Liyan Zhang
In order to improve the response speed and dynamic performance of bi-directional DC/DC converter, a passive controller is used to control the bi-directional DC/DC converter in electric vehicle. Based on its working characteristics, an EL model of bi-directional DC/DC converter is established to verify the passivity of the system, and then passive controller is designed. By using MATLAB/Simulink to simulate, the performance of the system controlled by passive controller and PI controller is analyzed and compared, the results show that passive controller has better control effect, and the scheme that passive controller applied in bidirectional DC/DC converter is feasible.
{"title":"Research on Bidirectional DC/DC Converter Based on Passive Control","authors":"X. Tang, Juan Li, Qihong Chen, Liyan Zhang","doi":"10.1109/YAC.2019.8787627","DOIUrl":"https://doi.org/10.1109/YAC.2019.8787627","url":null,"abstract":"In order to improve the response speed and dynamic performance of bi-directional DC/DC converter, a passive controller is used to control the bi-directional DC/DC converter in electric vehicle. Based on its working characteristics, an EL model of bi-directional DC/DC converter is established to verify the passivity of the system, and then passive controller is designed. By using MATLAB/Simulink to simulate, the performance of the system controlled by passive controller and PI controller is analyzed and compared, the results show that passive controller has better control effect, and the scheme that passive controller applied in bidirectional DC/DC converter is feasible.","PeriodicalId":6669,"journal":{"name":"2019 34rd Youth Academic Annual Conference of Chinese Association of Automation (YAC)","volume":"1 1","pages":"392-396"},"PeriodicalIF":0.0,"publicationDate":"2019-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"89220167","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 : 2019-06-06DOI: 10.1109/YAC.2019.8787720
Xufeng Liang, Y. Du, Xu Wang, Yuliang Zeng
This paper proposes a double-blockchain structured trading scheme (DBR-ETS) in carbon emission permits secondary market and introduces the enterprises' reputation, which is used to urge enterprises to actively invest in carbon emission reduction, and ultimately achieve carbon emission reduction in the overall society. The application of blockchain technology guarantees the security and privacy of distributed system. The confirmation chain and financial chain in the double-blockchain structure divide the transaction into two relatively independent processes, which can not only alleviate the transaction redundancy in the system but also improve the security of the system through the mutual verification of the two chains. The reputation-based transaction fee mechanism allows enterprises to promote their reputation by increasing investment in emission reduction. In the case study, we verified the superiority of the double-blockchain structure and the effect of the transaction fee mechanism on emission reduction.
{"title":"Design of A Double-blockchain Structured Carbon Emission Trading Scheme with Reputation","authors":"Xufeng Liang, Y. Du, Xu Wang, Yuliang Zeng","doi":"10.1109/YAC.2019.8787720","DOIUrl":"https://doi.org/10.1109/YAC.2019.8787720","url":null,"abstract":"This paper proposes a double-blockchain structured trading scheme (DBR-ETS) in carbon emission permits secondary market and introduces the enterprises' reputation, which is used to urge enterprises to actively invest in carbon emission reduction, and ultimately achieve carbon emission reduction in the overall society. The application of blockchain technology guarantees the security and privacy of distributed system. The confirmation chain and financial chain in the double-blockchain structure divide the transaction into two relatively independent processes, which can not only alleviate the transaction redundancy in the system but also improve the security of the system through the mutual verification of the two chains. The reputation-based transaction fee mechanism allows enterprises to promote their reputation by increasing investment in emission reduction. In the case study, we verified the superiority of the double-blockchain structure and the effect of the transaction fee mechanism on emission reduction.","PeriodicalId":6669,"journal":{"name":"2019 34rd Youth Academic Annual Conference of Chinese Association of Automation (YAC)","volume":"1 1","pages":"464-467"},"PeriodicalIF":0.0,"publicationDate":"2019-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"77786442","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 : 2019-06-06DOI: 10.1109/YAC.2019.8787645
Guorui Shen, Ye Yuan
During past decades, extreme learning machine has acquired a lot of popularity due to its fast training speed and easy-implementation. Though extreme learning machine has been proved valid when using an infinitely differentiable function like sigmoid as activation, existed extreme learning machine theory pays a little attention to consider non-differentiable function as activation. However, other non-differentiable activation function, rectifier linear unit (Relu) in particular, has been demonstrated to enable better training of deep neural networks, compared to previously wide-used sigmoid activation. And today Relu is the most popular choice for deep neural networks. Therefore in this note, we consider extreme learning machine that adopts non-smooth function as activation, proposing that a Relu activated single hidden layer feedforward neural network (SLFN) is capable of fitting given training data points with zero error under the condition that sufficient hidden neurons are provided at the hidden layer. The proof relies on a slightly different assumption from the original one but remains easy to satisfy. Besides, we also found that the squared fitting error function is monotonically non-increasing with respect to the number of hidden nodes, which in turn means a much wider SLFN owns much expressive capacity.
{"title":"On Theoretical Analysis of Single Hidden Layer Feedforward Neural Networks with Relu Activations","authors":"Guorui Shen, Ye Yuan","doi":"10.1109/YAC.2019.8787645","DOIUrl":"https://doi.org/10.1109/YAC.2019.8787645","url":null,"abstract":"During past decades, extreme learning machine has acquired a lot of popularity due to its fast training speed and easy-implementation. Though extreme learning machine has been proved valid when using an infinitely differentiable function like sigmoid as activation, existed extreme learning machine theory pays a little attention to consider non-differentiable function as activation. However, other non-differentiable activation function, rectifier linear unit (Relu) in particular, has been demonstrated to enable better training of deep neural networks, compared to previously wide-used sigmoid activation. And today Relu is the most popular choice for deep neural networks. Therefore in this note, we consider extreme learning machine that adopts non-smooth function as activation, proposing that a Relu activated single hidden layer feedforward neural network (SLFN) is capable of fitting given training data points with zero error under the condition that sufficient hidden neurons are provided at the hidden layer. The proof relies on a slightly different assumption from the original one but remains easy to satisfy. Besides, we also found that the squared fitting error function is monotonically non-increasing with respect to the number of hidden nodes, which in turn means a much wider SLFN owns much expressive capacity.","PeriodicalId":6669,"journal":{"name":"2019 34rd Youth Academic Annual Conference of Chinese Association of Automation (YAC)","volume":"40 1","pages":"706-709"},"PeriodicalIF":0.0,"publicationDate":"2019-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"91519119","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 : 2019-06-06DOI: 10.1109/YAC.2019.8787638
Kou Zuxing, Zhang Wei, Zhang Libao
In this paper, the automatic control system is composed of TIA portal configuration software and SIEMENS PLC. The SIEMENS PLC S7-300 module acts as the main control unit, Two kinds of materials, dimethyl sulfate and liquid alkali, were put into 9 and 5 metering tanks respectively. Configuration by using the upper computer software TIA portal, WinCC screen can real-time monitor and control the feeding of each measuring tank in the post. At the same time, the feeding quantity of each measuring tank in the post can be automatically stored in the SQL Server 2005 database. With the help of PC software, the data in the database can be invoked, real-time queries can be carried out in the form of electronic reports, and prints can be exported at any time. The company can greatly improve the production efficiency, improve the stability and accuracy of each beating, reduce the impact of human factors on the safety of beating in the process of beating, and reduce the safety risk.
本文的自动控制系统由TIA门户组态软件和SIEMENS PLC组成。西门子PLC S7-300模块作为主控单元，将硫酸二甲酯和液碱两种物料分别放入9个计量槽和5个计量槽中。通过上位机配置软件TIA门户，WinCC屏幕可以实时监控各测槽的进料情况。同时，各计量槽在岗位上的进料量可自动存入SQL Server 2005数据库。借助PC软件，可调用数据库中的数据，以电子报表的形式进行实时查询，并可随时输出打印件。公司可以大大提高生产效率，提高每次打浆的稳定性和准确性，减少打浆过程中人为因素对打浆安全的影响，降低安全风险。
{"title":"Design of Automatically Conveying Materials Control System Based on TIA portal Configuration Software","authors":"Kou Zuxing, Zhang Wei, Zhang Libao","doi":"10.1109/YAC.2019.8787638","DOIUrl":"https://doi.org/10.1109/YAC.2019.8787638","url":null,"abstract":"In this paper, the automatic control system is composed of TIA portal configuration software and SIEMENS PLC. The SIEMENS PLC S7-300 module acts as the main control unit, Two kinds of materials, dimethyl sulfate and liquid alkali, were put into 9 and 5 metering tanks respectively. Configuration by using the upper computer software TIA portal, WinCC screen can real-time monitor and control the feeding of each measuring tank in the post. At the same time, the feeding quantity of each measuring tank in the post can be automatically stored in the SQL Server 2005 database. With the help of PC software, the data in the database can be invoked, real-time queries can be carried out in the form of electronic reports, and prints can be exported at any time. The company can greatly improve the production efficiency, improve the stability and accuracy of each beating, reduce the impact of human factors on the safety of beating in the process of beating, and reduce the safety risk.","PeriodicalId":6669,"journal":{"name":"2019 34rd Youth Academic Annual Conference of Chinese Association of Automation (YAC)","volume":"590 1","pages":"531-536"},"PeriodicalIF":0.0,"publicationDate":"2019-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"77316414","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 : 2019-06-06DOI: 10.1109/YAC.2019.8787699
Bingqian Ding, Jianming Guo, Junhong Hu
After R-CNN and other classical frameworks were proposed, deep learning based target positioning framework has gradually become the mainstream. The SSD (Single Shot MultiBox Detector) framework model was used to locate the container number. By comparing the locating effects of different labeling methods for training samples, the basic unit that label as Single row or Single column is much better. With the actual size and proportion of the container number as reference, that modifying the feature layers which are used in SSD frame to generate the default box and adjusting the size of the feature map could adapt to the localization better. The result show that in the complex container number scenario, the accuracy based on SSD network to detect container number reaches 78%.
{"title":"Container number localization based on SSD algorithm","authors":"Bingqian Ding, Jianming Guo, Junhong Hu","doi":"10.1109/YAC.2019.8787699","DOIUrl":"https://doi.org/10.1109/YAC.2019.8787699","url":null,"abstract":"After R-CNN and other classical frameworks were proposed, deep learning based target positioning framework has gradually become the mainstream. The SSD (Single Shot MultiBox Detector) framework model was used to locate the container number. By comparing the locating effects of different labeling methods for training samples, the basic unit that label as Single row or Single column is much better. With the actual size and proportion of the container number as reference, that modifying the feature layers which are used in SSD frame to generate the default box and adjusting the size of the feature map could adapt to the localization better. The result show that in the complex container number scenario, the accuracy based on SSD network to detect container number reaches 78%.","PeriodicalId":6669,"journal":{"name":"2019 34rd Youth Academic Annual Conference of Chinese Association of Automation (YAC)","volume":"35 1 1","pages":"460-463"},"PeriodicalIF":0.0,"publicationDate":"2019-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81193460","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 : 2019-06-06DOI: 10.1109/YAC.2019.8787677
Fuping Wang, Yixin Su, Zhiwen Leng, Yue Qi
The kernel-based adaptive algorithm has been widely applied to noise cancellation, but the computational complexity of kernel function causes it can't perform well in embedded real-time control system. This paper proposes a design of the Gaussian kernel least mean square algorithm with improved novelty criterion, which aims to reduce computational load with universal approximation and fast convergence speed. The methodology slows down the growth rate of the network by multiple operations on the training set. It finds out the filter parameter from the collection data by improved novelty criterion, so the filter network has a much smaller scale and computation complexity, which allow it to be used in the embedded real-time control system.
{"title":"Gaussian Kernel Least Mean Square Algorithm With Improved Novelty Criterion","authors":"Fuping Wang, Yixin Su, Zhiwen Leng, Yue Qi","doi":"10.1109/YAC.2019.8787677","DOIUrl":"https://doi.org/10.1109/YAC.2019.8787677","url":null,"abstract":"The kernel-based adaptive algorithm has been widely applied to noise cancellation, but the computational complexity of kernel function causes it can't perform well in embedded real-time control system. This paper proposes a design of the Gaussian kernel least mean square algorithm with improved novelty criterion, which aims to reduce computational load with universal approximation and fast convergence speed. The methodology slows down the growth rate of the network by multiple operations on the training set. It finds out the filter parameter from the collection data by improved novelty criterion, so the filter network has a much smaller scale and computation complexity, which allow it to be used in the embedded real-time control system.","PeriodicalId":6669,"journal":{"name":"2019 34rd Youth Academic Annual Conference of Chinese Association of Automation (YAC)","volume":"41 1","pages":"138-142"},"PeriodicalIF":0.0,"publicationDate":"2019-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84002165","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 : 2019-06-06DOI: 10.1109/YAC.2019.8787647
Y. Liu, Taoye Zhang
With the rapid development of fast fashion brands in today's market, a large number of international fast fashion brands have entered the clothing market in China, which has enabled Chinese consumers to experience something entirely new by means of digital marketing strategies, thus making China's fast fashion clothing brands in an inferior position. ZARA, HM, UNIQLO and other leading fast fashion brands have developed rapidly in China, which is inseparable from their marketing strategies. Therefore, this paper firstly summarizes fast fashion brand, big data and digital marketing, collects data released by authoritative agencies, and analyses the necessity of fast fashion brands entering the digital stage. Secondly, the successful cases of digital marketing of representative fast fashion brands are studied in detail. Finally, by summing up the enlightening conclusions of the study, this paper puts forward some suggestions on the development strategy of digital marketing for fast fashion brands in China, and creates some marketing strategies suitable for the development of Chinese enterprises themselves.
{"title":"Research on Digital Marketing Strategies of Fast Fashion Clothing Brands Based on Big Data","authors":"Y. Liu, Taoye Zhang","doi":"10.1109/YAC.2019.8787647","DOIUrl":"https://doi.org/10.1109/YAC.2019.8787647","url":null,"abstract":"With the rapid development of fast fashion brands in today's market, a large number of international fast fashion brands have entered the clothing market in China, which has enabled Chinese consumers to experience something entirely new by means of digital marketing strategies, thus making China's fast fashion clothing brands in an inferior position. ZARA, HM, UNIQLO and other leading fast fashion brands have developed rapidly in China, which is inseparable from their marketing strategies. Therefore, this paper firstly summarizes fast fashion brand, big data and digital marketing, collects data released by authoritative agencies, and analyses the necessity of fast fashion brands entering the digital stage. Secondly, the successful cases of digital marketing of representative fast fashion brands are studied in detail. Finally, by summing up the enlightening conclusions of the study, this paper puts forward some suggestions on the development strategy of digital marketing for fast fashion brands in China, and creates some marketing strategies suitable for the development of Chinese enterprises themselves.","PeriodicalId":6669,"journal":{"name":"2019 34rd Youth Academic Annual Conference of Chinese Association of Automation (YAC)","volume":"101 1","pages":"552-556"},"PeriodicalIF":0.0,"publicationDate":"2019-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84762055","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 : 2019-06-01DOI: 10.1109/YAC.2019.8787639
Zifan Li, Hua Zhou
This paper proposes a defect detection algorithm based on defects feature on the glass surface. The process of defects recognition can be divided into five parts. First, median filter is used to eliminate the noise jamming of the glass image. Then laplacian sharping method is applied to enhance the image contrast. After that, the image is segmented by threshold to extract defects. In order to solve the problem of the noise in binary image processing, this paper uses morphological closure operation to remove the tiny connected areas. Finally, scratches are detected by Hough transform. The results of experiment verified that, compared with traditional methods, image processing based on the proposed method has higher detection efficiency and accuracy.
{"title":"A Hough Line Detection Based Glass Surface Defects Recognition Algorithm","authors":"Zifan Li, Hua Zhou","doi":"10.1109/YAC.2019.8787639","DOIUrl":"https://doi.org/10.1109/YAC.2019.8787639","url":null,"abstract":"This paper proposes a defect detection algorithm based on defects feature on the glass surface. The process of defects recognition can be divided into five parts. First, median filter is used to eliminate the noise jamming of the glass image. Then laplacian sharping method is applied to enhance the image contrast. After that, the image is segmented by threshold to extract defects. In order to solve the problem of the noise in binary image processing, this paper uses morphological closure operation to remove the tiny connected areas. Finally, scratches are detected by Hough transform. The results of experiment verified that, compared with traditional methods, image processing based on the proposed method has higher detection efficiency and accuracy.","PeriodicalId":6669,"journal":{"name":"2019 34rd Youth Academic Annual Conference of Chinese Association of Automation (YAC)","volume":"26 1","pages":"421-425"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74517087","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 : 2019-06-01DOI: 10.1109/YAC.2019.8787661
Guan Lu, Tongyang Feng, Xinyong Ma, Yiming Xu
Aiming at the problem of too many measuring points and difficult optimization in the process of I-beam structure stress state analysis, an improved particle swarm optimization algorithm based on simulated annealing and genetic algorithm is proposed, which considers the identification error of stress state and the optimization of measuring points comprehensively to screen the measuring points. Firstly, the initialization, selection, crossover and mutation of genetic algorithm are integrated into particle swarm optimization; secondly, the idea of simulated annealing is introduced into the mutation part. The improved particle swarm optimization algorithm improves the premature and poor local optimization of the standard particle swarm optimization algorithm. Compared with the standard particle swarm optimization, the improved particle swarm optimization has better stability, stronger anti-premature ability and 60% higher accuracy. The simulation results of measuring point selection and stress state identification of I-beam show that the improved particle swarm optimization algorithm has high efficiency in the process of point selection of stress state identification. The error of force state identification to select points is less than 3%. In engineering application, it provides a better method for stress state identification.
{"title":"Research on Structural Measuring Point Optimization Method Based on Improved Particle Swarm Optimization","authors":"Guan Lu, Tongyang Feng, Xinyong Ma, Yiming Xu","doi":"10.1109/YAC.2019.8787661","DOIUrl":"https://doi.org/10.1109/YAC.2019.8787661","url":null,"abstract":"Aiming at the problem of too many measuring points and difficult optimization in the process of I-beam structure stress state analysis, an improved particle swarm optimization algorithm based on simulated annealing and genetic algorithm is proposed, which considers the identification error of stress state and the optimization of measuring points comprehensively to screen the measuring points. Firstly, the initialization, selection, crossover and mutation of genetic algorithm are integrated into particle swarm optimization; secondly, the idea of simulated annealing is introduced into the mutation part. The improved particle swarm optimization algorithm improves the premature and poor local optimization of the standard particle swarm optimization algorithm. Compared with the standard particle swarm optimization, the improved particle swarm optimization has better stability, stronger anti-premature ability and 60% higher accuracy. The simulation results of measuring point selection and stress state identification of I-beam show that the improved particle swarm optimization algorithm has high efficiency in the process of point selection of stress state identification. The error of force state identification to select points is less than 3%. In engineering application, it provides a better method for stress state identification.","PeriodicalId":6669,"journal":{"name":"2019 34rd Youth Academic Annual Conference of Chinese Association of Automation (YAC)","volume":"5 1","pages":"335-341"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78392982","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 : 2019-06-01DOI: 10.1109/YAC.2019.8787707
Qingkai Yang, Yunlong Pan, Bo Zhou, H. Fang
This paper presents a framework on how to achieve prescribed planar formations using the concept of tensegrity structures. Given a group of robots with desired formation shape, we first design the underlying interaction topology based on the Polygon Theorem, yielding a super stable structure along with the robots' configuration. Then some basic control laws are introduced for mobile robots to model the interplay relationship between the neighbouring nodes in a self-equilibrated tensegrity structure. To fully validate the effectiveness of the tensegrity-motivated formation control strategy, we carry out not only numerical simulations but also experiments on two types of mobile robot platforms, wheeled mobile robots and unmanned aerial vehicles (UAVs).
{"title":"Planar formation control using tensegrity structures and experiments","authors":"Qingkai Yang, Yunlong Pan, Bo Zhou, H. Fang","doi":"10.1109/YAC.2019.8787707","DOIUrl":"https://doi.org/10.1109/YAC.2019.8787707","url":null,"abstract":"This paper presents a framework on how to achieve prescribed planar formations using the concept of tensegrity structures. Given a group of robots with desired formation shape, we first design the underlying interaction topology based on the Polygon Theorem, yielding a super stable structure along with the robots' configuration. Then some basic control laws are introduced for mobile robots to model the interplay relationship between the neighbouring nodes in a self-equilibrated tensegrity structure. To fully validate the effectiveness of the tensegrity-motivated formation control strategy, we carry out not only numerical simulations but also experiments on two types of mobile robot platforms, wheeled mobile robots and unmanned aerial vehicles (UAVs).","PeriodicalId":6669,"journal":{"name":"2019 34rd Youth Academic Annual Conference of Chinese Association of Automation (YAC)","volume":"8 1","pages":"307-311"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78425888","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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