Pub Date : 2009-09-25DOI: 10.1109/ICAL.2009.5262588
Bowen Gong, Zhaosheng Yang, Ciyun Lin
Based on the problem that disasters occur frequently all over the world recently. This paper aims to develop dispatching optimization and dynamical routing guidance techniques for emergency vehicles under disaster conditions, so as to reduce emergency response time and avoid further possible deterioration of disaster situation. As to dispatching for emergency vehicles, firstly, classify the casualties into several regions based on the pickup locations, quantity and severity of casualties by an adaptive spectral clustering method, and then work out dispatching strategies for emergency vehicles by k-means clustering method based on the distance among casualties regions, emergency supply stations and hospitals. As to routing guidance for emergency vehicles, centrally dynamic route guidance system based on parallel computing technology is presented to offer safe, reliable and fast routes for emergency vehicles, which are subject to the network's impedance function based on real-time forecasted travel time. Finally, the algorithms presented in this paper are validated based on the platform of ArcGIS by generating casualties randomly in random areas and damaging the simulation network of Changchun city randomly.
{"title":"Dispatching optimization and routing guidance for emergency vehicles in disaster","authors":"Bowen Gong, Zhaosheng Yang, Ciyun Lin","doi":"10.1109/ICAL.2009.5262588","DOIUrl":"https://doi.org/10.1109/ICAL.2009.5262588","url":null,"abstract":"Based on the problem that disasters occur frequently all over the world recently. This paper aims to develop dispatching optimization and dynamical routing guidance techniques for emergency vehicles under disaster conditions, so as to reduce emergency response time and avoid further possible deterioration of disaster situation. As to dispatching for emergency vehicles, firstly, classify the casualties into several regions based on the pickup locations, quantity and severity of casualties by an adaptive spectral clustering method, and then work out dispatching strategies for emergency vehicles by k-means clustering method based on the distance among casualties regions, emergency supply stations and hospitals. As to routing guidance for emergency vehicles, centrally dynamic route guidance system based on parallel computing technology is presented to offer safe, reliable and fast routes for emergency vehicles, which are subject to the network's impedance function based on real-time forecasted travel time. Finally, the algorithms presented in this paper are validated based on the platform of ArcGIS by generating casualties randomly in random areas and damaging the simulation network of Changchun city randomly.","PeriodicalId":140270,"journal":{"name":"2009 IEEE International Conference on Automation and Logistics","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-09-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115157006","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 : 2009-09-25DOI: 10.1109/ICAL.2009.5262655
Wenbiao Wang, A. Li, Zi Ma, Huipu Xu, Yuan Tian
An industrial robot calibration algorithm is presented, which uses a line-structure-light sensor. In the proposed method, the sensor is attached to the robot's end-effector and the centre of a ball with known radius is regarded as a virtue point and the robot carries the sensor to measure this virtue point. The kinematic parameters of the robot are estimated due to the coordinates of the virtue point is invariable in robot base frame. An example verifies the effectiveness of the proposed method.
{"title":"An automated method to robot calibration using line-structure-light vision sensor","authors":"Wenbiao Wang, A. Li, Zi Ma, Huipu Xu, Yuan Tian","doi":"10.1109/ICAL.2009.5262655","DOIUrl":"https://doi.org/10.1109/ICAL.2009.5262655","url":null,"abstract":"An industrial robot calibration algorithm is presented, which uses a line-structure-light sensor. In the proposed method, the sensor is attached to the robot's end-effector and the centre of a ball with known radius is regarded as a virtue point and the robot carries the sensor to measure this virtue point. The kinematic parameters of the robot are estimated due to the coordinates of the virtue point is invariable in robot base frame. An example verifies the effectiveness of the proposed method.","PeriodicalId":140270,"journal":{"name":"2009 IEEE International Conference on Automation and Logistics","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-09-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117202386","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 : 2009-09-25DOI: 10.1109/ICAL.2009.5262995
Wentao Mao, Jeong-Jung Kim, Jujang Lee
Unlike animals and humans who are very adept at push recovery, humanoid robots push recovery is difficult for its high dimensional, non-linear, and hybrid features. Existed research results such like Capture points, provide several methods to recover from the push. However when a high magnitude push applies to the humanoid, existed methods are not enough to recover the robot. Towards this problem, Continuous Steps method is proposed to solve this problem in this paper. We present simulation of a simple humanoid that can recover from a high magnitude push by using continuous steps. Future work involves extending the modeling to arbitrary direction pushes and applying the method to the real humanoid robots.
{"title":"Continuous steps toward humanoid push recovery","authors":"Wentao Mao, Jeong-Jung Kim, Jujang Lee","doi":"10.1109/ICAL.2009.5262995","DOIUrl":"https://doi.org/10.1109/ICAL.2009.5262995","url":null,"abstract":"Unlike animals and humans who are very adept at push recovery, humanoid robots push recovery is difficult for its high dimensional, non-linear, and hybrid features. Existed research results such like Capture points, provide several methods to recover from the push. However when a high magnitude push applies to the humanoid, existed methods are not enough to recover the robot. Towards this problem, Continuous Steps method is proposed to solve this problem in this paper. We present simulation of a simple humanoid that can recover from a high magnitude push by using continuous steps. Future work involves extending the modeling to arbitrary direction pushes and applying the method to the real humanoid robots.","PeriodicalId":140270,"journal":{"name":"2009 IEEE International Conference on Automation and Logistics","volume":"14 6","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-09-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120815691","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 : 2009-09-25DOI: 10.1109/ICAL.2009.5262706
Yong Zhang, Jing Zhu
To deal with various problems in production planning and scheduling system in cold rolling production, and meet the need of abilities in the description and analysis, a method based on the Hierarchy Colored Petri Nets was proposed. According to this method, a simple and crude description of the entire running process of the system is given at the main nets, and the more detailed behaviors are specified at the sub nets. Meanwhile strengthened the Petri Nets description ability with coloring, what made steel information, equipment condition and routes clearer, thus simplified the Petri Nets model structure, reduced the model complexity. This method also could be well used in other complicated process industries. It was shown that these designed object classes were highly consistent with real production and the development efficiency for production planning and scheduling systems has been greatly improved.
{"title":"Product line system modeling of the cold-rolled mill based on the hierarchy colored petri nets","authors":"Yong Zhang, Jing Zhu","doi":"10.1109/ICAL.2009.5262706","DOIUrl":"https://doi.org/10.1109/ICAL.2009.5262706","url":null,"abstract":"To deal with various problems in production planning and scheduling system in cold rolling production, and meet the need of abilities in the description and analysis, a method based on the Hierarchy Colored Petri Nets was proposed. According to this method, a simple and crude description of the entire running process of the system is given at the main nets, and the more detailed behaviors are specified at the sub nets. Meanwhile strengthened the Petri Nets description ability with coloring, what made steel information, equipment condition and routes clearer, thus simplified the Petri Nets model structure, reduced the model complexity. This method also could be well used in other complicated process industries. It was shown that these designed object classes were highly consistent with real production and the development efficiency for production planning and scheduling systems has been greatly improved.","PeriodicalId":140270,"journal":{"name":"2009 IEEE International Conference on Automation and Logistics","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-09-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120938501","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 : 2009-09-25DOI: 10.1109/ICAL.2009.5262844
Haisheng Yu, Zongwei Zou, Shanshan Yu
A novel feedback control scheme for speed regulation of permanent magnet synchronous motor (PMSM) is presented based on energy-shaping and port-controlled Hamiltonian (PCH) systems theory. The desired state error port-controlled Hamiltonian structure is assigned to the closed-loop PMSM system by feedback control. Using interconnection and damping assignment passivity-based control (IDA-PBC) methodology, speed controllers are designed when the load torque is known and unknown, respectively. The stability of the desired equilibrium point satisfying the maximum torque per ampere (MTPA) control rule is also analysed. Proportional integral (PI) control of speed error is used to estimate the unknown load torque. At last, the speed controller is implemented based on space vector pulse-width modulation (SVPWM) control rule. By controlling every inverter switch, three-phase PWM voltages satisfying the speed regulation requirement are provided to the stator windings of PMSM. The good dynamic and steady-state performances of the presented scheme are verified by simulation results.
{"title":"Speed regulation of PMSM based on port-controlled hamiltonian systems and PI control principle","authors":"Haisheng Yu, Zongwei Zou, Shanshan Yu","doi":"10.1109/ICAL.2009.5262844","DOIUrl":"https://doi.org/10.1109/ICAL.2009.5262844","url":null,"abstract":"A novel feedback control scheme for speed regulation of permanent magnet synchronous motor (PMSM) is presented based on energy-shaping and port-controlled Hamiltonian (PCH) systems theory. The desired state error port-controlled Hamiltonian structure is assigned to the closed-loop PMSM system by feedback control. Using interconnection and damping assignment passivity-based control (IDA-PBC) methodology, speed controllers are designed when the load torque is known and unknown, respectively. The stability of the desired equilibrium point satisfying the maximum torque per ampere (MTPA) control rule is also analysed. Proportional integral (PI) control of speed error is used to estimate the unknown load torque. At last, the speed controller is implemented based on space vector pulse-width modulation (SVPWM) control rule. By controlling every inverter switch, three-phase PWM voltages satisfying the speed regulation requirement are provided to the stator windings of PMSM. The good dynamic and steady-state performances of the presented scheme are verified by simulation results.","PeriodicalId":140270,"journal":{"name":"2009 IEEE International Conference on Automation and Logistics","volume":"105 7","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-09-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120971224","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 : 2009-09-25DOI: 10.1109/ICAL.2009.5262663
Wang Xiaonan
A new kind of Anycast communication model is proposed on the basis of multicast tree technology in this paper. Since this model achieves dynamic Anycast group and allows Anycast members to freely leave and join Anycast group it solves the existing scalability problem. In addition, this model accomplishes the distributed maintenance and transaction of Anycast service request and the information on Anycast tree so it fulfills the load balance. This paper deeply analyzes and discusses the feasibility and validity of this communication model, and the experimental data in IPv6 simulation demonstrate that the TRT of one Anycast service(for example, file downloading) acquired through this communication model is shorter than the one through the current communication model.
{"title":"A communication model on implementing anycast service with multicast tree in IPv6","authors":"Wang Xiaonan","doi":"10.1109/ICAL.2009.5262663","DOIUrl":"https://doi.org/10.1109/ICAL.2009.5262663","url":null,"abstract":"A new kind of Anycast communication model is proposed on the basis of multicast tree technology in this paper. Since this model achieves dynamic Anycast group and allows Anycast members to freely leave and join Anycast group it solves the existing scalability problem. In addition, this model accomplishes the distributed maintenance and transaction of Anycast service request and the information on Anycast tree so it fulfills the load balance. This paper deeply analyzes and discusses the feasibility and validity of this communication model, and the experimental data in IPv6 simulation demonstrate that the TRT of one Anycast service(for example, file downloading) acquired through this communication model is shorter than the one through the current communication model.","PeriodicalId":140270,"journal":{"name":"2009 IEEE International Conference on Automation and Logistics","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-09-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125103538","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 : 2009-09-25DOI: 10.1109/ICAL.2009.5262741
Chuanfei Qiu, Q. Zhou, Changjun Wei, Fei Xu
The paper comes up with the solution implementing high speed data acquisition system with SOPC technology. The paper embeds a Nios II CPU in FPGA, and mounts customized user logic on Avalon switch fabric. It successfully implements the high speed data acquisition system, including functions of measuring the parameters of input signal, waveform rebuilding and drawing.
提出了利用SOPC技术实现高速数据采集系统的方案。本文在FPGA中嵌入Nios II CPU，并在Avalon交换机结构上安装定制的用户逻辑。成功实现了高速数据采集系统，包括输入信号的参数测量、波形重建和绘图等功能。
{"title":"The implement of high speed data acquisition system based-on SOPC technology","authors":"Chuanfei Qiu, Q. Zhou, Changjun Wei, Fei Xu","doi":"10.1109/ICAL.2009.5262741","DOIUrl":"https://doi.org/10.1109/ICAL.2009.5262741","url":null,"abstract":"The paper comes up with the solution implementing high speed data acquisition system with SOPC technology. The paper embeds a Nios II CPU in FPGA, and mounts customized user logic on Avalon switch fabric. It successfully implements the high speed data acquisition system, including functions of measuring the parameters of input signal, waveform rebuilding and drawing.","PeriodicalId":140270,"journal":{"name":"2009 IEEE International Conference on Automation and Logistics","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-09-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125953659","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 : 2009-09-25DOI: 10.1109/ICAL.2009.5262569
Hairong Fang, Jianghong Chen, Congzhe Wang
Aiming at improving the problems of traditional parallel robot: covers larger area, smaller workspace. A systematic method is developed to obtain bigger workplace, magnification ratio of Z axis and the compact framework. The virtual axes are employed for reduce the constraining of parallel robot's workspace caused by the length of the links. Based on those a four-degree-of-freedom (4-DoF) parallel mechanism was designed, which is equally replaced based on the concept of generalized pair and the principle of the equivalent kinematic chain; screw theory was used to analyze the DOF; the workspace shape of the traditional and this mechanism were defined by drawing, bigger workspace than traditional manipulator can see from the figure. In addition, the movement of the equalized form of the parallel mechanism is simulated with the MATLAB-SimMechanics.
{"title":"Mechanism analysis of a novel four-degree-of-freedom parallel manipulator based on larger workspace","authors":"Hairong Fang, Jianghong Chen, Congzhe Wang","doi":"10.1109/ICAL.2009.5262569","DOIUrl":"https://doi.org/10.1109/ICAL.2009.5262569","url":null,"abstract":"Aiming at improving the problems of traditional parallel robot: covers larger area, smaller workspace. A systematic method is developed to obtain bigger workplace, magnification ratio of Z axis and the compact framework. The virtual axes are employed for reduce the constraining of parallel robot's workspace caused by the length of the links. Based on those a four-degree-of-freedom (4-DoF) parallel mechanism was designed, which is equally replaced based on the concept of generalized pair and the principle of the equivalent kinematic chain; screw theory was used to analyze the DOF; the workspace shape of the traditional and this mechanism were defined by drawing, bigger workspace than traditional manipulator can see from the figure. In addition, the movement of the equalized form of the parallel mechanism is simulated with the MATLAB-SimMechanics.","PeriodicalId":140270,"journal":{"name":"2009 IEEE International Conference on Automation and Logistics","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-09-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123599975","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 : 2009-09-25DOI: 10.1109/ICAL.2009.5262840
Yu-yan Liu, Shi-liang Zhou
This paper introduces a simple technique for designing a static H∞ loop shaping controller. Sufficient conditions are established in Linear matrix inequality (LMI) form for the existence. The order of controller is equal to sum of the orders of the weighing functions. The genetic algorithms (GA) which guarantee the stability, performance in terms of H∞ specifications, are adopted to optimize the loop-shaping weighing functions. It is avoided to select the weighing functions by a trial-error method based on the designer's experience. So the paper introduces a systemic technique for designing a low order H∞ loop shaping controller. Real-time experimental results on a double inverted pendulum (DIP) system demonstrate the validity and applicability of the proposed approach.
{"title":"Static H∞ loop shaping real-time control of a double inverted pendulum system","authors":"Yu-yan Liu, Shi-liang Zhou","doi":"10.1109/ICAL.2009.5262840","DOIUrl":"https://doi.org/10.1109/ICAL.2009.5262840","url":null,"abstract":"This paper introduces a simple technique for designing a static H∞ loop shaping controller. Sufficient conditions are established in Linear matrix inequality (LMI) form for the existence. The order of controller is equal to sum of the orders of the weighing functions. The genetic algorithms (GA) which guarantee the stability, performance in terms of H∞ specifications, are adopted to optimize the loop-shaping weighing functions. It is avoided to select the weighing functions by a trial-error method based on the designer's experience. So the paper introduces a systemic technique for designing a low order H∞ loop shaping controller. Real-time experimental results on a double inverted pendulum (DIP) system demonstrate the validity and applicability of the proposed approach.","PeriodicalId":140270,"journal":{"name":"2009 IEEE International Conference on Automation and Logistics","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-09-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125579640","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 : 2009-09-25DOI: 10.1109/ICAL.2009.5262598
Xianming Li, Haifa Liu
A kind of low cost micro-reactor polymerase chain reaction (PCR) chips is designed in which there are no temperature sensor and heater, and a temperature control system to the array of this kind of chips is developed. The control system is composed of a unitized macroscopic control subsystem and a distributed microcosmic control subsystem. The temperature that PCR chips need is controlled approximately by unitized macroscopic subsystem in which water as heat medium is pumped through a special heat exchanger. An array of miniature heaters corresponding to the array of PCR chips is made in a flexible printed circuit board that provides temperature compensation to every PCR chip. To be composed a cascade control system and using statistical quality control(SPC) method, the temperature of every chip is controlled quickly and accurately by the miniature heaters cooperating together with the heat exchanger.
{"title":"The array of micro-reactor PCR chips and its control system","authors":"Xianming Li, Haifa Liu","doi":"10.1109/ICAL.2009.5262598","DOIUrl":"https://doi.org/10.1109/ICAL.2009.5262598","url":null,"abstract":"A kind of low cost micro-reactor polymerase chain reaction (PCR) chips is designed in which there are no temperature sensor and heater, and a temperature control system to the array of this kind of chips is developed. The control system is composed of a unitized macroscopic control subsystem and a distributed microcosmic control subsystem. The temperature that PCR chips need is controlled approximately by unitized macroscopic subsystem in which water as heat medium is pumped through a special heat exchanger. An array of miniature heaters corresponding to the array of PCR chips is made in a flexible printed circuit board that provides temperature compensation to every PCR chip. To be composed a cascade control system and using statistical quality control(SPC) method, the temperature of every chip is controlled quickly and accurately by the miniature heaters cooperating together with the heat exchanger.","PeriodicalId":140270,"journal":{"name":"2009 IEEE International Conference on Automation and Logistics","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-09-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126830201","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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