Pub Date : 2014-07-03DOI: 10.1109/ICMC.2014.7231517
E. Xu, W. Xinquan, Zhang Ye, Mao Meijing, Tanyan
Aquatic product safety assessment is a hot and hard problem in the research field which is one of the important contents in food safety supervision and management, and is composed of all kinds of assessment indexes which are not only dependent, but also independent. To deal with it, a new method was proposed by using core attributes, discernable matrix and so on. Attribute reduction of rough sets is an NP-hard problem, but there is not a popular efficient algorithm presently. The attribute union concept based on the set theory and the attribute reduced algorithm based on this concept were presented. The algorithm translates the attribute reduction to find the attribute union, reducing the number of scanning the decision table and improving the reduced efficiency. The scanning strategy from bottom to top and with width priority can ensure to find the minimal reduction. Also, an example was presented to describe the algorithm.
{"title":"Research on aquatic products safety assessment","authors":"E. Xu, W. Xinquan, Zhang Ye, Mao Meijing, Tanyan","doi":"10.1109/ICMC.2014.7231517","DOIUrl":"https://doi.org/10.1109/ICMC.2014.7231517","url":null,"abstract":"Aquatic product safety assessment is a hot and hard problem in the research field which is one of the important contents in food safety supervision and management, and is composed of all kinds of assessment indexes which are not only dependent, but also independent. To deal with it, a new method was proposed by using core attributes, discernable matrix and so on. Attribute reduction of rough sets is an NP-hard problem, but there is not a popular efficient algorithm presently. The attribute union concept based on the set theory and the attribute reduced algorithm based on this concept were presented. The algorithm translates the attribute reduction to find the attribute union, reducing the number of scanning the decision table and improving the reduced efficiency. The scanning strategy from bottom to top and with width priority can ensure to find the minimal reduction. Also, an example was presented to describe the algorithm.","PeriodicalId":104511,"journal":{"name":"2014 International Conference on Mechatronics and Control (ICMC)","volume":"109 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127419146","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 : 2014-07-03DOI: 10.1109/ICMC.2014.7231958
Chen Jing, Xin Gao, Xiangping Zhu, Shuangqing Lang
A problem focused on fault classification is studied in detail in this article. Two classification method, support vector machine and principal component analysis, are utilized to process this issue. Support vector machine, a common used binary classifier, is utilized as a multi-class classifier in this paper. There are several approaches to modify the binary classifier into multi-class classifier, and the “one against one” approach is chosen in this paper. Principal component analysis (abbreviated as PCA), regularly utilized to process interrelated variables and dimensionality reduction problems, is used as a fault classification algorithm in this essay. A simple comparison is made in the end of this article from the aspect of classification accuracy, and principal component analysis classifier shows a better classification performance.
{"title":"Fault classification on Tennessee Eastman process: PCA and SVM","authors":"Chen Jing, Xin Gao, Xiangping Zhu, Shuangqing Lang","doi":"10.1109/ICMC.2014.7231958","DOIUrl":"https://doi.org/10.1109/ICMC.2014.7231958","url":null,"abstract":"A problem focused on fault classification is studied in detail in this article. Two classification method, support vector machine and principal component analysis, are utilized to process this issue. Support vector machine, a common used binary classifier, is utilized as a multi-class classifier in this paper. There are several approaches to modify the binary classifier into multi-class classifier, and the “one against one” approach is chosen in this paper. Principal component analysis (abbreviated as PCA), regularly utilized to process interrelated variables and dimensionality reduction problems, is used as a fault classification algorithm in this essay. A simple comparison is made in the end of this article from the aspect of classification accuracy, and principal component analysis classifier shows a better classification performance.","PeriodicalId":104511,"journal":{"name":"2014 International Conference on Mechatronics and Control (ICMC)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133855030","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 : 2014-07-03DOI: 10.1109/ICMC.2014.7231877
Jie Huang, Qingkai Yang, Xuehui Gao
This paper focuses on the attitude control for multiple spacecraft. Two decentralized finite-time control laws are proposed when the communication topologies are directed and undirected, respectively. The proposed control schemes rely on the information of angular velocity errors and error quaternions of the neighboring spacecraft which determines the orientation of the torques and reduce the relative errors. Finite-time stabilization of the system is proved by using Lyapunov function and graph theory. Finally, simulation examples are illustrated to validate the approach by different case studies.
{"title":"Cooperation attitude control of multiple spacecraft using sliding mode variable structure","authors":"Jie Huang, Qingkai Yang, Xuehui Gao","doi":"10.1109/ICMC.2014.7231877","DOIUrl":"https://doi.org/10.1109/ICMC.2014.7231877","url":null,"abstract":"This paper focuses on the attitude control for multiple spacecraft. Two decentralized finite-time control laws are proposed when the communication topologies are directed and undirected, respectively. The proposed control schemes rely on the information of angular velocity errors and error quaternions of the neighboring spacecraft which determines the orientation of the torques and reduce the relative errors. Finite-time stabilization of the system is proved by using Lyapunov function and graph theory. Finally, simulation examples are illustrated to validate the approach by different case studies.","PeriodicalId":104511,"journal":{"name":"2014 International Conference on Mechatronics and Control (ICMC)","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115456077","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 : 2014-07-03DOI: 10.1109/ICMC.2014.7231748
Zongzeng Zhang, Chuang Liu, D. Ye, Zhao-wei Sun
Guidance is critical for a probe to land on the moon surface successfully. This paper mostly discusses about the guidance law in deceleration process of lunar soft landing. Based on some hypothesis, it creates the dynamics model which is built in the coordinate system of soft landing. Then the suboptimal fuel-consuming guidance law is designed for the purpose of reducing fuel consumption. Output errors can represent an aggregation of sensor measurement errors, initial errors and stochastic disturbances. So it is necessary to execute error analysis on landing position accuracy in use of Maximum Deviation Method and Monte Carlo Method separately. The simulation results show that the guidance law can realize required accuracy.
{"title":"The design of guidance law and error analysis in deceleration process of lunar soft landing","authors":"Zongzeng Zhang, Chuang Liu, D. Ye, Zhao-wei Sun","doi":"10.1109/ICMC.2014.7231748","DOIUrl":"https://doi.org/10.1109/ICMC.2014.7231748","url":null,"abstract":"Guidance is critical for a probe to land on the moon surface successfully. This paper mostly discusses about the guidance law in deceleration process of lunar soft landing. Based on some hypothesis, it creates the dynamics model which is built in the coordinate system of soft landing. Then the suboptimal fuel-consuming guidance law is designed for the purpose of reducing fuel consumption. Output errors can represent an aggregation of sensor measurement errors, initial errors and stochastic disturbances. So it is necessary to execute error analysis on landing position accuracy in use of Maximum Deviation Method and Monte Carlo Method separately. The simulation results show that the guidance law can realize required accuracy.","PeriodicalId":104511,"journal":{"name":"2014 International Conference on Mechatronics and Control (ICMC)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114931792","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 : 2014-07-03DOI: 10.1109/ICMC.2014.7231609
Liu Jiaqi, Huang Xianlin, B. Xiaojun, X. Z. Gao, K. Zenger
In this paper, the effectiveness of hybrid bacteria foraging optimization (BFO) algorithm and particle swarm optimization (PSO) algorithm have been tested for multi-loop robust controller design in discrete-time networked control systems (NCSs). Of particular interest is the case that varying transmission delays and varying transmission intervals in NCSs cause the optimal function to be nonconvex and even the gradient is not easily computed. The new intelligent hybrid BFO-PSO algorithm is employed to search for the optimal controller parameters, and then to minimize the constrained object function subject to robust control specifications by using a randomized technique is developed which does not need any gradient information. For this purpose, we first extend the results in robust controller synthesis via parameter-dependent Lyapunov function, where the study of interplay between the stability and robust performance of NCSs feedback loops are investigated. Next, the hybrid BFO-PSO algorithm is introduced to minimize the robust control function with communication constraints. Finally, the proposed method is applied to some typical numerical examples. Simulation results show that the system oscillations are effectively damped by the proposed approach.
{"title":"An intelligent hybrid BFO-PSO algorithm for multi-loop robust controller design in discrete-time networked control systems","authors":"Liu Jiaqi, Huang Xianlin, B. Xiaojun, X. Z. Gao, K. Zenger","doi":"10.1109/ICMC.2014.7231609","DOIUrl":"https://doi.org/10.1109/ICMC.2014.7231609","url":null,"abstract":"In this paper, the effectiveness of hybrid bacteria foraging optimization (BFO) algorithm and particle swarm optimization (PSO) algorithm have been tested for multi-loop robust controller design in discrete-time networked control systems (NCSs). Of particular interest is the case that varying transmission delays and varying transmission intervals in NCSs cause the optimal function to be nonconvex and even the gradient is not easily computed. The new intelligent hybrid BFO-PSO algorithm is employed to search for the optimal controller parameters, and then to minimize the constrained object function subject to robust control specifications by using a randomized technique is developed which does not need any gradient information. For this purpose, we first extend the results in robust controller synthesis via parameter-dependent Lyapunov function, where the study of interplay between the stability and robust performance of NCSs feedback loops are investigated. Next, the hybrid BFO-PSO algorithm is introduced to minimize the robust control function with communication constraints. Finally, the proposed method is applied to some typical numerical examples. Simulation results show that the system oscillations are effectively damped by the proposed approach.","PeriodicalId":104511,"journal":{"name":"2014 International Conference on Mechatronics and Control (ICMC)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116939900","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 : 2014-07-03DOI: 10.1109/ICMC.2014.7231668
D. She, Yiliu Yang
In order to excite silicon microcantilevers under the temperature ranging from room temperature to 500°C, an impact base excitation device was developed. In excitation device, an electric heating plate is used as the heating element to heat the testing microstructure. A separated structure was designed to protect the piezoelectric ceramic apart from the damage due to the high temperature. Using the developed excitation device, silicon microcantilevers were excited under 500°C. The impulse response signals of the silicon microcantilevers were obtained by a Laser Doppler Vibrometer. The dynamic characteristics of the silicon microcantilevers have been studied. The results show that the designed excitation device is effective to excite the silicon cantilevers under the high temperature environment.
{"title":"A base excitation device with PZT for MEMS dynamic testing under high temperature environment","authors":"D. She, Yiliu Yang","doi":"10.1109/ICMC.2014.7231668","DOIUrl":"https://doi.org/10.1109/ICMC.2014.7231668","url":null,"abstract":"In order to excite silicon microcantilevers under the temperature ranging from room temperature to 500°C, an impact base excitation device was developed. In excitation device, an electric heating plate is used as the heating element to heat the testing microstructure. A separated structure was designed to protect the piezoelectric ceramic apart from the damage due to the high temperature. Using the developed excitation device, silicon microcantilevers were excited under 500°C. The impulse response signals of the silicon microcantilevers were obtained by a Laser Doppler Vibrometer. The dynamic characteristics of the silicon microcantilevers have been studied. The results show that the designed excitation device is effective to excite the silicon cantilevers under the high temperature environment.","PeriodicalId":104511,"journal":{"name":"2014 International Conference on Mechatronics and Control (ICMC)","volume":"150 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117312485","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 : 2014-07-03DOI: 10.1109/ICMC.2014.7231741
Qiubo Zhong, Jie Zhao, Chunya Tong
According to the high requirement in environment of tracking for humanoid robot based on vision, a recognition algorithm and control method is present using depth information extraction. The depth information is gathered by a Kinect camera from Microsoft, and an accelerated algorithm is proposed to improve the real-time requirements of image recognition. The obstacles information and robot status are gathered and an artificial potential field method based on safe region is planned to control the tracking. Finally, experiments are achieved on a real humanoid robot Nao.
{"title":"Tracking for humanoid robot based on Kinect","authors":"Qiubo Zhong, Jie Zhao, Chunya Tong","doi":"10.1109/ICMC.2014.7231741","DOIUrl":"https://doi.org/10.1109/ICMC.2014.7231741","url":null,"abstract":"According to the high requirement in environment of tracking for humanoid robot based on vision, a recognition algorithm and control method is present using depth information extraction. The depth information is gathered by a Kinect camera from Microsoft, and an accelerated algorithm is proposed to improve the real-time requirements of image recognition. The obstacles information and robot status are gathered and an artificial potential field method based on safe region is planned to control the tracking. Finally, experiments are achieved on a real humanoid robot Nao.","PeriodicalId":104511,"journal":{"name":"2014 International Conference on Mechatronics and Control (ICMC)","volume":"102 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123583271","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 : 2014-07-03DOI: 10.1109/ICMC.2014.7231667
Ye Dong, Yuan Xiao-yu, Chen Gang, Guo Yu-bo, Wang Yan-wei
In the vision measurement of high-speed moving target, the system should with high data-update rate and maintain it stable. Cooperative markers also should be correctly matched. As the markers on the moving target with large displacement in the images between frames, the conventional neighborhood search method with a fixed neighborhood size would decrease the system data-update rate, mismatch the markers, and even miss the target, which result from inappropriate neighborhood setting. In this paper, an embedded real-time preprocessing system is designed. The problem of low data-update rate caused by high-resolution images transmission has been solved by Zero-Delay data transmission mode. A self-adaptive neighborhood search method is proposed with Kalman Filter to estimate the position of neighborhood, and the feedback of the depth information in the measurement results is used to track the neighborhood size. Benefiting from this method, the search range of the marker between frames is remarkably reduced. In the experiment, at the distance of 1.9m, the data update rate of the system remains relatively stable above 65fps when the moving target velocity ranged from 0.033m/s to 2.01m/s. The advantages in matching and real-time ability of the system in high speed target measurement are verified.
{"title":"Real-time preprocessing for vision measurement system on high-speed cooperative target","authors":"Ye Dong, Yuan Xiao-yu, Chen Gang, Guo Yu-bo, Wang Yan-wei","doi":"10.1109/ICMC.2014.7231667","DOIUrl":"https://doi.org/10.1109/ICMC.2014.7231667","url":null,"abstract":"In the vision measurement of high-speed moving target, the system should with high data-update rate and maintain it stable. Cooperative markers also should be correctly matched. As the markers on the moving target with large displacement in the images between frames, the conventional neighborhood search method with a fixed neighborhood size would decrease the system data-update rate, mismatch the markers, and even miss the target, which result from inappropriate neighborhood setting. In this paper, an embedded real-time preprocessing system is designed. The problem of low data-update rate caused by high-resolution images transmission has been solved by Zero-Delay data transmission mode. A self-adaptive neighborhood search method is proposed with Kalman Filter to estimate the position of neighborhood, and the feedback of the depth information in the measurement results is used to track the neighborhood size. Benefiting from this method, the search range of the marker between frames is remarkably reduced. In the experiment, at the distance of 1.9m, the data update rate of the system remains relatively stable above 65fps when the moving target velocity ranged from 0.033m/s to 2.01m/s. The advantages in matching and real-time ability of the system in high speed target measurement are verified.","PeriodicalId":104511,"journal":{"name":"2014 International Conference on Mechatronics and Control (ICMC)","volume":"111 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128723902","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 : 2014-07-03DOI: 10.1109/ICMC.2014.7231974
Li You, S. Zhaowei, Ye Dong
The nonlinearity of the dynamic and kinetic model becomes so high that ordinary attitude determination algorithms are not accurate enough when the satellite rotates fast, and sometimes the system state does not converge. In this paper, a new attitude determination algorithm is presented to deal with this situation. Based on minimal model error (MME) principle, the model error caused by the nonlinearity is considered and estimated in the algorithm. The approximate model derived from the Taylor formula is modified using the estimation of model error, thus the accuracy of attitude estimation is improved. Simulation results indicate that the algorithm presented in this paper performs better than ordinary EKF algorithm when the satellite is rotating fast.
{"title":"An attitude determination algorithm for fast maneuver satellites","authors":"Li You, S. Zhaowei, Ye Dong","doi":"10.1109/ICMC.2014.7231974","DOIUrl":"https://doi.org/10.1109/ICMC.2014.7231974","url":null,"abstract":"The nonlinearity of the dynamic and kinetic model becomes so high that ordinary attitude determination algorithms are not accurate enough when the satellite rotates fast, and sometimes the system state does not converge. In this paper, a new attitude determination algorithm is presented to deal with this situation. Based on minimal model error (MME) principle, the model error caused by the nonlinearity is considered and estimated in the algorithm. The approximate model derived from the Taylor formula is modified using the estimation of model error, thus the accuracy of attitude estimation is improved. Simulation results indicate that the algorithm presented in this paper performs better than ordinary EKF algorithm when the satellite is rotating fast.","PeriodicalId":104511,"journal":{"name":"2014 International Conference on Mechatronics and Control (ICMC)","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129328192","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 : 2014-07-03DOI: 10.1109/ICMC.2014.7231506
Ci Chen, Zhi Liu
In this paper, an adaptive motion/force control scheme is proposed via fuzzy logic system for solving the problem of input backlash in the practical application of humanoid robot manipulation. Compared with the existing literatures ignoring input nonlinearities, an smooth backlash inverse is firstly employed to deal with the lines-segments effect from backlash nonlinearity. Secondly, a decentralized control configuration is proposed to make the motion and the internal forces converge to the predetermined values at the same time. Moreover, the stabilities of all signals in the robotic system are guaranteed by the Lyapunov second method. Finally, simulation and experiment illustrate the effectiveness of the proposed control scheme.
{"title":"Adaptive motion/force control of robots with input nonlinearities via fuzzy logic system","authors":"Ci Chen, Zhi Liu","doi":"10.1109/ICMC.2014.7231506","DOIUrl":"https://doi.org/10.1109/ICMC.2014.7231506","url":null,"abstract":"In this paper, an adaptive motion/force control scheme is proposed via fuzzy logic system for solving the problem of input backlash in the practical application of humanoid robot manipulation. Compared with the existing literatures ignoring input nonlinearities, an smooth backlash inverse is firstly employed to deal with the lines-segments effect from backlash nonlinearity. Secondly, a decentralized control configuration is proposed to make the motion and the internal forces converge to the predetermined values at the same time. Moreover, the stabilities of all signals in the robotic system are guaranteed by the Lyapunov second method. Finally, simulation and experiment illustrate the effectiveness of the proposed control scheme.","PeriodicalId":104511,"journal":{"name":"2014 International Conference on Mechatronics and Control (ICMC)","volume":"91 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129828290","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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