Pub Date : 2009-06-17DOI: 10.1109/CCDC.2009.5194956
S. Fatikow, T. Wortmann, M. Mikczinski, C. Dahmen, C. Stolle
One of the key challenges of microsystem- and nanotechnologies is the automation of robot-based nanomanipulation. However, there is limited sensor feedback due to lack of appropriate sensors. Sensor feedback is required for repeatable actuator movements from macro- down to the nanoscale. This complicates the design of reliable automation processes. In this paper, the development of an automated robot-based toolbox for cell injection and handling is presented. This toolbox includes several sensor methods, bridging several orders of magnitude as feedback for automation. A non-linear support vector machine (SVM) is applied for classification of the viability of cells as feedback for quality control. A visual servoing algorithm for position tracking of the injection needle as well as an injection force sensor have been developed. First automation results and the control system are explained.
{"title":"Towards automated robot-based nanohandling","authors":"S. Fatikow, T. Wortmann, M. Mikczinski, C. Dahmen, C. Stolle","doi":"10.1109/CCDC.2009.5194956","DOIUrl":"https://doi.org/10.1109/CCDC.2009.5194956","url":null,"abstract":"One of the key challenges of microsystem- and nanotechnologies is the automation of robot-based nanomanipulation. However, there is limited sensor feedback due to lack of appropriate sensors. Sensor feedback is required for repeatable actuator movements from macro- down to the nanoscale. This complicates the design of reliable automation processes. In this paper, the development of an automated robot-based toolbox for cell injection and handling is presented. This toolbox includes several sensor methods, bridging several orders of magnitude as feedback for automation. A non-linear support vector machine (SVM) is applied for classification of the viability of cells as feedback for quality control. A visual servoing algorithm for position tracking of the injection needle as well as an injection force sensor have been developed. First automation results and the control system are explained.","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":"123529397","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.2009.5192820
Tie Wang, Gaonan Wang, Jianyang Lin
With considering lightening and safety of strength, integrations of both distribution's density and function's density, the normal fussy reliability formulas about vehicle parts that forces, strengths are gamma distribution and subordinate is parabola of exponential k was gotten; First integral change was achieved according to initial data and function imported and extent of integrated, second this number result with VB program in the computer was achieved by using middle-points integral calculus and romberg integration. This program can be used in design of vehicle parts for rising up level of design.
{"title":"The gamma fuzzy reliability design of vehicle parts","authors":"Tie Wang, Gaonan Wang, Jianyang Lin","doi":"10.1109/CCDC.2009.5192820","DOIUrl":"https://doi.org/10.1109/CCDC.2009.5192820","url":null,"abstract":"With considering lightening and safety of strength, integrations of both distribution's density and function's density, the normal fussy reliability formulas about vehicle parts that forces, strengths are gamma distribution and subordinate is parabola of exponential k was gotten; First integral change was achieved according to initial data and function imported and extent of integrated, second this number result with VB program in the computer was achieved by using middle-points integral calculus and romberg integration. This program can be used in design of vehicle parts for rising up level of design.","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":"123656759","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.2009.5195092
Wu Maogang, Zhao Rongxiang
A novel high precision mixed speed regulation method is presented, which is the combination of other-control and self-control. The principle of mixed speed regulation is analyzed, the cut-in condition of self-control to other-control, interior given frequency of other-control and the quick switch of other-control to self-control are analyzed in detail. The method is applied to simulation and experimental system, the results show that the method achieves high speed precision in static state, and quick response in dynamic state, which is suited for high precision speed regulation field.
{"title":"A novel mixed speed regulation method for permanent magnet synchronous motor with high precision","authors":"Wu Maogang, Zhao Rongxiang","doi":"10.1109/CCDC.2009.5195092","DOIUrl":"https://doi.org/10.1109/CCDC.2009.5195092","url":null,"abstract":"A novel high precision mixed speed regulation method is presented, which is the combination of other-control and self-control. The principle of mixed speed regulation is analyzed, the cut-in condition of self-control to other-control, interior given frequency of other-control and the quick switch of other-control to self-control are analyzed in detail. The method is applied to simulation and experimental system, the results show that the method achieves high speed precision in static state, and quick response in dynamic state, which is suited for high precision speed regulation field.","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":"120950124","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.2009.5194688
Ge Quanbo, Wang Xun, Guan Binglei
Different sensors' sampling velocities and random transmission delay for wireless sensor networks often make the Out-Of-Sequence Measurements (OOSM) appearred. Most of the current OOSM algorithms are established for some special asynchronous systems, so they can't not only deal with the case that there have multiple OOSMs in the fusion period but also have bad universal ability. For mentioned problems above, the centralized fusion methods for this OOSM system is proposed based on equivalent measurements and orthogonal mapping technologies for a general OOSMs system with asynchronous sampling. The theoretic analysis and simulation examples both show that the proposed OOSM fusion algorithms not only deal with effectively arbitrary asynchronous OOSM system but also the fusion accuracy is better than the current OOSM method for special system.
{"title":"Out-Of-Sequence Measurements fusion for asynchronous multisensor network","authors":"Ge Quanbo, Wang Xun, Guan Binglei","doi":"10.1109/CCDC.2009.5194688","DOIUrl":"https://doi.org/10.1109/CCDC.2009.5194688","url":null,"abstract":"Different sensors' sampling velocities and random transmission delay for wireless sensor networks often make the Out-Of-Sequence Measurements (OOSM) appearred. Most of the current OOSM algorithms are established for some special asynchronous systems, so they can't not only deal with the case that there have multiple OOSMs in the fusion period but also have bad universal ability. For mentioned problems above, the centralized fusion methods for this OOSM system is proposed based on equivalent measurements and orthogonal mapping technologies for a general OOSMs system with asynchronous sampling. The theoretic analysis and simulation examples both show that the proposed OOSM fusion algorithms not only deal with effectively arbitrary asynchronous OOSM system but also the fusion accuracy is better than the current OOSM method for special system.","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":"121286848","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}
In this paper, the mathematical model for a class of time-varying sampling control system with stochastic sampling period is established. The sufficient conditions on the existence of the stabilizing controllers with H∞ norm bound are established, and the controller design ensuring the stochastic stability of systems with H∞ norm bound is also proposed by solving the linear matrix inequalities. The simulation results illustrate the effectiveness of the proposed controller design.
{"title":"A sufficient condition for H∞ control on a class of time-varying sampling control systems","authors":"Qinghua Zhao, Hong-li Zhang, Yuanwei Jing, Si-ying Zhang","doi":"10.1109/CCDC.2009.5195019","DOIUrl":"https://doi.org/10.1109/CCDC.2009.5195019","url":null,"abstract":"In this paper, the mathematical model for a class of time-varying sampling control system with stochastic sampling period is established. The sufficient conditions on the existence of the stabilizing controllers with H∞ norm bound are established, and the controller design ensuring the stochastic stability of systems with H∞ norm bound is also proposed by solving the linear matrix inequalities. The simulation results illustrate the effectiveness of the proposed controller design.","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":"116258931","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.2009.5195185
H. Cao, C. Xue
This paper deals with the integrated system for underwater warfare simulation (ISUWS). Building the integrated system is an effective way to meet multiple requirements for underwater warfare simulation. To this end, firstly, the hardware and software structure are presented after analyzing the system's requirements, and ISUWS is constructed; then the key points encountered in the course of ISUWS realizing are discussed; finally, operation results of ISUWS are given to verify its validity. ISUWS can provide powerful support for the research into the underwater warfare by its characteristics of expandability and generality.
{"title":"An integrated system for underwater warfare simulation","authors":"H. Cao, C. Xue","doi":"10.1109/CCDC.2009.5195185","DOIUrl":"https://doi.org/10.1109/CCDC.2009.5195185","url":null,"abstract":"This paper deals with the integrated system for underwater warfare simulation (ISUWS). Building the integrated system is an effective way to meet multiple requirements for underwater warfare simulation. To this end, firstly, the hardware and software structure are presented after analyzing the system's requirements, and ISUWS is constructed; then the key points encountered in the course of ISUWS realizing are discussed; finally, operation results of ISUWS are given to verify its validity. ISUWS can provide powerful support for the research into the underwater warfare by its characteristics of expandability and generality.","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":"116336236","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.2009.5191603
X. Zhigang, Sheng Andong, L. Yinya
The theoretical Cramer-Rao lower bound (CRLB) for bearings-only maneuvering target tracking is derived in the case where the observation measurements are lost in a random fashion. Two binary variables are introduced to model two events respectively, one which the target maneuvers or not and another that the target is detected or missed. The corresponding recursive formula for theoretical CRLB is then derived based on the sequential version of the CRLB for general nonlinear systems. The theoretical formula suffers from heavy calculation load of the Fisher information matrix (FIM) while the constant probability of detection is less than unity. An approximation of the theoretical bound is proposed. In addition, a detection reduction factor bound is presented and proved to be less than the theoretical CRLB. The results are illustrated with a numerical example.
{"title":"Cramer-Rao lower bounds for bearings-only maneuvering target tracking with incomplete measurements","authors":"X. Zhigang, Sheng Andong, L. Yinya","doi":"10.1109/CCDC.2009.5191603","DOIUrl":"https://doi.org/10.1109/CCDC.2009.5191603","url":null,"abstract":"The theoretical Cramer-Rao lower bound (CRLB) for bearings-only maneuvering target tracking is derived in the case where the observation measurements are lost in a random fashion. Two binary variables are introduced to model two events respectively, one which the target maneuvers or not and another that the target is detected or missed. The corresponding recursive formula for theoretical CRLB is then derived based on the sequential version of the CRLB for general nonlinear systems. The theoretical formula suffers from heavy calculation load of the Fisher information matrix (FIM) while the constant probability of detection is less than unity. An approximation of the theoretical bound is proposed. In addition, a detection reduction factor bound is presented and proved to be less than the theoretical CRLB. The results are illustrated with a numerical example.","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":"116347099","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.2009.5191826
Cailing Wang, Wenjuan Sun, You Zhang, Zhongfan Li
In this paper, we introduce generalized essentially pseudoconvex function and generalized essentially quasiconvex function, and give sufficient optimality conditions of the nonsmooth generalized convex multi-objective programming and its saddle point theorem about cone efficient solution.
{"title":"Optimality conditions and saddle-point theory for nonsmooth generalized convexity multiobjective programming","authors":"Cailing Wang, Wenjuan Sun, You Zhang, Zhongfan Li","doi":"10.1109/CCDC.2009.5191826","DOIUrl":"https://doi.org/10.1109/CCDC.2009.5191826","url":null,"abstract":"In this paper, we introduce generalized essentially pseudoconvex function and generalized essentially quasiconvex function, and give sufficient optimality conditions of the nonsmooth generalized convex multi-objective programming and its saddle point theorem about cone efficient solution.","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":"124295934","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.2009.5195224
Masoud Dorosti, J. H. Nobari
3-DOF Rotary Table manipulator is a robotic mechanism which brings about spatial rotational movements. This mechanism helps to make a movement scenario in order to test Guidance and Navigation Systems of moving vehicles. It has complicated dynamic equations which are crucial for control objectives. In this paper, we study applicable kinematics of this manipulator. Afterward, we choose the best kinematics and try to get the dynamic equations by applying the Newton's Second Law for Rotation. We use the Newton's Second Law instead of using common methods in robotic modeling such as Denavit-Hartenberg and Newton-Euler methods. We have extracted full dynamic equations that contain all designing parameters such as Moment of Inertia factor in all round and even the unbalanced and wobble effect. Finally we have verified obtained equations by simulation.
{"title":"Kinematic and dynamic analysis of 3-DOF Rotary Table manipulator","authors":"Masoud Dorosti, J. H. Nobari","doi":"10.1109/CCDC.2009.5195224","DOIUrl":"https://doi.org/10.1109/CCDC.2009.5195224","url":null,"abstract":"3-DOF Rotary Table manipulator is a robotic mechanism which brings about spatial rotational movements. This mechanism helps to make a movement scenario in order to test Guidance and Navigation Systems of moving vehicles. It has complicated dynamic equations which are crucial for control objectives. In this paper, we study applicable kinematics of this manipulator. Afterward, we choose the best kinematics and try to get the dynamic equations by applying the Newton's Second Law for Rotation. We use the Newton's Second Law instead of using common methods in robotic modeling such as Denavit-Hartenberg and Newton-Euler methods. We have extracted full dynamic equations that contain all designing parameters such as Moment of Inertia factor in all round and even the unbalanced and wobble effect. Finally we have verified obtained equations by simulation.","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":"124058780","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.2009.5195058
Xu Xinying, Han Xiaoming, Xie Jun, X. Keming
In recent years, there has been a growth of investigation into the use of artificial immune system as a source of inspiration and metaphor for computational tasks. In this paper, we present a fault diagnosis algorithm based on artificial immune mechanism that can execute multi-point parallel search from local to global searching field and increase the diversity of antigen population and the ability of searching maximum. At last, we apply this algorithm to the fault diagnosis system. Simulation studies show that the proposed method is feasible and recognize the fault correctly.
{"title":"Fault diagnosis algorithm based on artificial immune mechanism","authors":"Xu Xinying, Han Xiaoming, Xie Jun, X. Keming","doi":"10.1109/CCDC.2009.5195058","DOIUrl":"https://doi.org/10.1109/CCDC.2009.5195058","url":null,"abstract":"In recent years, there has been a growth of investigation into the use of artificial immune system as a source of inspiration and metaphor for computational tasks. In this paper, we present a fault diagnosis algorithm based on artificial immune mechanism that can execute multi-point parallel search from local to global searching field and increase the diversity of antigen population and the ability of searching maximum. At last, we apply this algorithm to the fault diagnosis system. Simulation studies show that the proposed method is feasible and recognize the fault correctly.","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":"124068258","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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