Pub Date : 2009-06-17DOI: 10.1109/CCDC.2009.5192866
N. Sadeghzadeh, A. Afshar
This paper introduces new methods for sensor fusion in homogenous sensor networks in the presence of the communication time delay. It allows the sensor nodes to solve consensus problems despite the network induced delay. It is shown that such approaches guarantee tracking of each consensus filter output to the original value of the measured signal in both regular and non-regular network graph topology. In the non-regular case, there is a sufficient condition to prove the convergence. In the networks with communication time delay, consensus problem is solved by considering time delay as a constant as well as using the idea of the variable sampling period in order for time delay compensation. In the second case, each sensor sampling period is variable and it is taken as maximum predicted time delay of the all channels in the network at each sampling period. In this way, an MLP neural network is used for time delay prediction and a majority consensus filter is introduced for approximating maximum predicted time delay in the network. Simulation results are provided that demonstrate the effectiveness of these methods for distributed sensor fusion and solving consensus problem in the presence of the time delay.
{"title":"New approaches for distributed sensor networks consensus in the presence of communication time delay","authors":"N. Sadeghzadeh, A. Afshar","doi":"10.1109/CCDC.2009.5192866","DOIUrl":"https://doi.org/10.1109/CCDC.2009.5192866","url":null,"abstract":"This paper introduces new methods for sensor fusion in homogenous sensor networks in the presence of the communication time delay. It allows the sensor nodes to solve consensus problems despite the network induced delay. It is shown that such approaches guarantee tracking of each consensus filter output to the original value of the measured signal in both regular and non-regular network graph topology. In the non-regular case, there is a sufficient condition to prove the convergence. In the networks with communication time delay, consensus problem is solved by considering time delay as a constant as well as using the idea of the variable sampling period in order for time delay compensation. In the second case, each sensor sampling period is variable and it is taken as maximum predicted time delay of the all channels in the network at each sampling period. In this way, an MLP neural network is used for time delay prediction and a majority consensus filter is introduced for approximating maximum predicted time delay in the network. Simulation results are provided that demonstrate the effectiveness of these methods for distributed sensor fusion and solving consensus problem in the presence of the time delay.","PeriodicalId":127110,"journal":{"name":"2009 Chinese Control and Decision Conference","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2009-06-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114399785","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 : 2009-06-17DOI: 10.1109/CCDC.2009.5191769
Zhou Yuanshen, Zhu Xirong
In the conventional two-degree-freedom(2DOF) Internal Model Control(IMC) method, input controller is applied to regulate the output tracking, forwardback controller to regulate both load disturbance rejection performance and robustness performance. In order to regulate respectively them, this paper presents the three-degree-freedom(3DOF) IMC method, the additional feedback controller is used to regulate the robustness of the system. First the principle of 3DOF-IMC is analyzed, and the relation between robustness and feedback controller is searched. Then the 3DOF-IMC method is applied to the speed adjusting drive system of DC machine. The performances of system, based on 3DOF-IMC, have been verified by computer simulation. Simulation results show that the output tracking, the load disturbance rejection and robustness performance of system are regulated respectively by using the 3DOF-IMC method, the proposed 3DOF-IMC methods provide very good dynamic response performances.
{"title":"Application of three-degree-freedom Internal Model Control and mechanism analysis of IMC system robustness","authors":"Zhou Yuanshen, Zhu Xirong","doi":"10.1109/CCDC.2009.5191769","DOIUrl":"https://doi.org/10.1109/CCDC.2009.5191769","url":null,"abstract":"In the conventional two-degree-freedom(2DOF) Internal Model Control(IMC) method, input controller is applied to regulate the output tracking, forwardback controller to regulate both load disturbance rejection performance and robustness performance. In order to regulate respectively them, this paper presents the three-degree-freedom(3DOF) IMC method, the additional feedback controller is used to regulate the robustness of the system. First the principle of 3DOF-IMC is analyzed, and the relation between robustness and feedback controller is searched. Then the 3DOF-IMC method is applied to the speed adjusting drive system of DC machine. The performances of system, based on 3DOF-IMC, have been verified by computer simulation. Simulation results show that the output tracking, the load disturbance rejection and robustness performance of system are regulated respectively by using the 3DOF-IMC method, the proposed 3DOF-IMC methods provide very good dynamic response performances.","PeriodicalId":127110,"journal":{"name":"2009 Chinese Control and Decision Conference","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2009-06-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114552158","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 : 2009-06-17DOI: 10.1109/CCDC.2009.5194908
Jiang ZhengWang, L. Yinya, Mao Mingxiu, Chen Li, Guo Zhi
An improved probabilistic data association is proposed to overcome both the drawback of complication in joint probabilistic data association and the unneutrality of multi-targets processing by probabilistic data association. It incorporates the radar Doppler measurement information and modifies weighting of state estimation of measurements in the common region, and then makes the final estimation more exact and improves further performance. The theoretical analysis and Monte-Carlo simulation results show that the algorithm has small computation cost and a better real-time tracking performance.
{"title":"Research of improved probability data association algorithm for multi-target tracking","authors":"Jiang ZhengWang, L. Yinya, Mao Mingxiu, Chen Li, Guo Zhi","doi":"10.1109/CCDC.2009.5194908","DOIUrl":"https://doi.org/10.1109/CCDC.2009.5194908","url":null,"abstract":"An improved probabilistic data association is proposed to overcome both the drawback of complication in joint probabilistic data association and the unneutrality of multi-targets processing by probabilistic data association. It incorporates the radar Doppler measurement information and modifies weighting of state estimation of measurements in the common region, and then makes the final estimation more exact and improves further performance. The theoretical analysis and Monte-Carlo simulation results show that the algorithm has small computation cost and a better real-time tracking performance.","PeriodicalId":127110,"journal":{"name":"2009 Chinese Control and Decision Conference","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2009-06-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114573781","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 : 2009-06-17DOI: 10.1109/CCDC.2009.5192699
Ren Zhi-bin, Ruan Yi, Li Zheng, Yang Yong
The purpose of inspection robot for power transmission lines is to check running state and find damages of extra-high voltage (EHV) power transmission lines equipment. The key of the control design is how to design a robot for obstacles navigation. This paper presents the robot configuration, and describes obstacle-navigation control principle. If the horizontal pose of the body is kept through the gripping mechanism, the gripping force will become bigger, and result in the damage of OGWs. So a centroid adjustment method, which enables the centroid of inspection robot to adjust is proposed in this paper. And then paper presents expert system with hybrid architecture and analyzes decision-making of obstacle-navigation in layered planning mode. On-line experiment results show that the control strategy can guide the inspection robot to patrol along the transmission lines and cross obstacles efficiently.
{"title":"Motion planning of inspection robot suspended on overhead ground wires for obstacle-navigation","authors":"Ren Zhi-bin, Ruan Yi, Li Zheng, Yang Yong","doi":"10.1109/CCDC.2009.5192699","DOIUrl":"https://doi.org/10.1109/CCDC.2009.5192699","url":null,"abstract":"The purpose of inspection robot for power transmission lines is to check running state and find damages of extra-high voltage (EHV) power transmission lines equipment. The key of the control design is how to design a robot for obstacles navigation. This paper presents the robot configuration, and describes obstacle-navigation control principle. If the horizontal pose of the body is kept through the gripping mechanism, the gripping force will become bigger, and result in the damage of OGWs. So a centroid adjustment method, which enables the centroid of inspection robot to adjust is proposed in this paper. And then paper presents expert system with hybrid architecture and analyzes decision-making of obstacle-navigation in layered planning mode. On-line experiment results show that the control strategy can guide the inspection robot to patrol along the transmission lines and cross obstacles efficiently.","PeriodicalId":127110,"journal":{"name":"2009 Chinese Control and Decision Conference","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2009-06-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122019165","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 : 2009-06-17DOI: 10.1109/CCDC.2009.5191838
Zhang Tao, Xiaosu Xu
As the traditional ICP algorithm is liable to get local minimization problem, a chaotic BP neural network is presented in the ICP algorithm. In the algorithm, a searching area of real position was plotted centering on the indication of refer navigation system, then terrain altitude data was extracted from refer terrain map. These terrain data, along with corresponding position coordinates, were defined as several patterns and used to train BP network. The network can recognizes certain pattern class with measured water-depth data to determine vehicle's location. However, there are drawbacks of local minimization problem and slow rapidity of convergence in BP network, so improved ways were put forward. The improvement includes replacing common motivating function with chaotic motivating function for and determination of neural network's weights using chaotic search. The experimental results reveal that results of terrain matching can be improved, and matching failure caused by local convergence is overcome to a certain extent.
{"title":"The application of chaotic BP neural network in underwater terrain matching navigation","authors":"Zhang Tao, Xiaosu Xu","doi":"10.1109/CCDC.2009.5191838","DOIUrl":"https://doi.org/10.1109/CCDC.2009.5191838","url":null,"abstract":"As the traditional ICP algorithm is liable to get local minimization problem, a chaotic BP neural network is presented in the ICP algorithm. In the algorithm, a searching area of real position was plotted centering on the indication of refer navigation system, then terrain altitude data was extracted from refer terrain map. These terrain data, along with corresponding position coordinates, were defined as several patterns and used to train BP network. The network can recognizes certain pattern class with measured water-depth data to determine vehicle's location. However, there are drawbacks of local minimization problem and slow rapidity of convergence in BP network, so improved ways were put forward. The improvement includes replacing common motivating function with chaotic motivating function for and determination of neural network's weights using chaotic search. The experimental results reveal that results of terrain matching can be improved, and matching failure caused by local convergence is overcome to a certain extent.","PeriodicalId":127110,"journal":{"name":"2009 Chinese Control and Decision Conference","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2009-06-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122093590","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 : 2009-06-17DOI: 10.1109/CCDC.2009.5191496
Zhen Peng, Bingru Yang, L. Bai
With the aim to improve the KDD process model and achieve the double bases(database and knowledge base) cooperating mechanism, the paper proposed one RBFCM based maintenance coordinator algorithm, which used RBFCM, a soft computing methodology, representing knowledge and inference in order to maintain in time knowledge base harmonizing with the database. On the one hand, maintenance coordinator algorithm need to keep the knowledge base up with database when three conditions happens, on the other hand, it can automatically solve self contradictions problems existing in knowledge base. Knowledge discovery systems equipped with the maintenance coordinator can evidently enhance the rehabilitation, self cognition and efficiency.
{"title":"One RBFCM based maintenance coordinator algorithm of KDD","authors":"Zhen Peng, Bingru Yang, L. Bai","doi":"10.1109/CCDC.2009.5191496","DOIUrl":"https://doi.org/10.1109/CCDC.2009.5191496","url":null,"abstract":"With the aim to improve the KDD process model and achieve the double bases(database and knowledge base) cooperating mechanism, the paper proposed one RBFCM based maintenance coordinator algorithm, which used RBFCM, a soft computing methodology, representing knowledge and inference in order to maintain in time knowledge base harmonizing with the database. On the one hand, maintenance coordinator algorithm need to keep the knowledge base up with database when three conditions happens, on the other hand, it can automatically solve self contradictions problems existing in knowledge base. Knowledge discovery systems equipped with the maintenance coordinator can evidently enhance the rehabilitation, self cognition and efficiency.","PeriodicalId":127110,"journal":{"name":"2009 Chinese Control and Decision Conference","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2009-06-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122129261","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 : 2009-06-17DOI: 10.1109/CCDC.2009.5195221
Bin Liu, Lina Hao, Jun Deng, Xin Liu
This paper presents two designs on small robotic fish with IPMC actuator. We chose PIC microcontrollers as the control chip for two designs. In the first robotic fish an infrared remote control device is used. We use microcontroller to control DAC and make an OCL circuit as the amplifier circuit. The whole circuit can generate sine wave and square wave. On the basis of the first robotic fish research achievements, the second fish is simplified in the design of control circuit. We use ZigBee remote control module as the communication system. This fish is able to perform the collection of water temperature and display function.
{"title":"A remote operated robotic fish with temperature sensor based on IPMC actuator","authors":"Bin Liu, Lina Hao, Jun Deng, Xin Liu","doi":"10.1109/CCDC.2009.5195221","DOIUrl":"https://doi.org/10.1109/CCDC.2009.5195221","url":null,"abstract":"This paper presents two designs on small robotic fish with IPMC actuator. We chose PIC microcontrollers as the control chip for two designs. In the first robotic fish an infrared remote control device is used. We use microcontroller to control DAC and make an OCL circuit as the amplifier circuit. The whole circuit can generate sine wave and square wave. On the basis of the first robotic fish research achievements, the second fish is simplified in the design of control circuit. We use ZigBee remote control module as the communication system. This fish is able to perform the collection of water temperature and display function.","PeriodicalId":127110,"journal":{"name":"2009 Chinese Control and Decision Conference","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2009-06-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116719497","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 : 2009-06-17DOI: 10.1109/CCDC.2009.5192428
Jie Yan, Xiaohong Lu
This paper is concerned with H∞ information fusion filtering for discrete-time systems with time-delay sensors based on re-organization of innovation. The key technique applied for deriving the filter is the ro-organized innovation analysis approach in Krein space. The H∞ filter is given in terms of solutions of Riccati matrix differential equations. It is the first time to present the result of H∞ information fusion for linear discrete-time systems with delayed sensors. In the fusion center, It only requires computing scalar weights, so the calculation burden can be reduced. while this method does not requires that the parameters of the system and the statistics of the noises are assumed to be known exactly. Thus the proposed approach is much more computational attractive.
{"title":"H∞ information fusion filtering for discrete-time systems with time-delay sensors","authors":"Jie Yan, Xiaohong Lu","doi":"10.1109/CCDC.2009.5192428","DOIUrl":"https://doi.org/10.1109/CCDC.2009.5192428","url":null,"abstract":"This paper is concerned with H∞ information fusion filtering for discrete-time systems with time-delay sensors based on re-organization of innovation. The key technique applied for deriving the filter is the ro-organized innovation analysis approach in Krein space. The H∞ filter is given in terms of solutions of Riccati matrix differential equations. It is the first time to present the result of H∞ information fusion for linear discrete-time systems with delayed sensors. In the fusion center, It only requires computing scalar weights, so the calculation burden can be reduced. while this method does not requires that the parameters of the system and the statistics of the noises are assumed to be known exactly. Thus the proposed approach is much more computational attractive.","PeriodicalId":127110,"journal":{"name":"2009 Chinese Control and Decision Conference","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2009-06-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117004216","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 : 2009-06-17DOI: 10.1109/CCDC.2009.5192248
Sun Li-ying
Guided ultrasonic wave is a new non-destructive pipe inspection method for rapid, long distance inspection. It can be used to inspect pipes, especially those buried underground or difficult to access using other conventional NDT methods. In this paper, the excitation frequency of two most commonly used ultrasonic guided waves, longitudinal wave and torsional wave were researched, and the lower and upper frequency limit were discussed in detail. Furthermore, factor that may affect the selection of experimental frequency was studied and optimum frequency of guided wave for a carbon steel experimental pipe was selected.
{"title":"Study on excitation frequency of longitudinal and torsional guided waves","authors":"Sun Li-ying","doi":"10.1109/CCDC.2009.5192248","DOIUrl":"https://doi.org/10.1109/CCDC.2009.5192248","url":null,"abstract":"Guided ultrasonic wave is a new non-destructive pipe inspection method for rapid, long distance inspection. It can be used to inspect pipes, especially those buried underground or difficult to access using other conventional NDT methods. In this paper, the excitation frequency of two most commonly used ultrasonic guided waves, longitudinal wave and torsional wave were researched, and the lower and upper frequency limit were discussed in detail. Furthermore, factor that may affect the selection of experimental frequency was studied and optimum frequency of guided wave for a carbon steel experimental pipe was selected.","PeriodicalId":127110,"journal":{"name":"2009 Chinese Control and Decision Conference","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2009-06-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129781485","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 : 2009-06-17DOI: 10.1109/CCDC.2009.5194921
Bi Xinhua, Chen Taibo, Y. Baojun, Yuan Cuiling
In recent years, business environment has been perceived to be more turbulent. Manufacturing flexibility (MF) is widely considered as ability aimed at dealing with environment changes; meanwhile, rapid product innovation (RPI) has high priority to get competitive advantage in this kind of environment. They are both related to many important manufacturing decisions. This paper concentrates on analyzing MF, RPI and their relationship to help manufacture managers to make better decisions, so that manufacturing company can create and maintain competitive advantage in turbulent business environment.
{"title":"Manufacturing flexibility and rapid product innovation: Two key manufacturing decision issues in turbulent business environment","authors":"Bi Xinhua, Chen Taibo, Y. Baojun, Yuan Cuiling","doi":"10.1109/CCDC.2009.5194921","DOIUrl":"https://doi.org/10.1109/CCDC.2009.5194921","url":null,"abstract":"In recent years, business environment has been perceived to be more turbulent. Manufacturing flexibility (MF) is widely considered as ability aimed at dealing with environment changes; meanwhile, rapid product innovation (RPI) has high priority to get competitive advantage in this kind of environment. They are both related to many important manufacturing decisions. This paper concentrates on analyzing MF, RPI and their relationship to help manufacture managers to make better decisions, so that manufacturing company can create and maintain competitive advantage in turbulent business environment.","PeriodicalId":127110,"journal":{"name":"2009 Chinese Control and Decision Conference","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2009-06-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128290856","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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