Pub Date : 2009-09-25DOI: 10.1109/ICAL.2009.5262563
R. Yu
A new backward looking car following model with a consideration of the relative velocity is proposed in a cooperative driving system based on the analysis of the previous models. The stability condition is obtained by the use of the linear stability theory. The stability of the uniform traffic flow is strengthened by the effect of introducing the relative velocity. A numerical simulation is carried out to verify the performance of the new model. The simulation results show that it is reasonable to introduce the effect of the relative velocity.
{"title":"Stability analysis on hybrid optimal velocity model with relative velocity","authors":"R. Yu","doi":"10.1109/ICAL.2009.5262563","DOIUrl":"https://doi.org/10.1109/ICAL.2009.5262563","url":null,"abstract":"A new backward looking car following model with a consideration of the relative velocity is proposed in a cooperative driving system based on the analysis of the previous models. The stability condition is obtained by the use of the linear stability theory. The stability of the uniform traffic flow is strengthened by the effect of introducing the relative velocity. A numerical simulation is carried out to verify the performance of the new model. The simulation results show that it is reasonable to introduce the effect of the relative velocity.","PeriodicalId":140270,"journal":{"name":"2009 IEEE International Conference on Automation and Logistics","volume":"57 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":"132802712","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.2009.5262688
Fu Yu, L. Yukun, Sui Zhiyuan, Z. Xiaoguang
This paper discusses fidelity of simulation in logistics systems. A method to manage fidelity is developed, and three standards according to which fidelity levels can be described are presented. To quantify the differences between different fidelity levels, a Book Retrieval Module in a Book Distribution Center Design Project is studied, three models with different fidelity levels are built, and a method to calculate the differences is given. A system of evaluation index is developed. Some suggestions about fidelity management and evaluation are given at last.
{"title":"Fidelity management and evaluation in logistics system","authors":"Fu Yu, L. Yukun, Sui Zhiyuan, Z. Xiaoguang","doi":"10.1109/ICAL.2009.5262688","DOIUrl":"https://doi.org/10.1109/ICAL.2009.5262688","url":null,"abstract":"This paper discusses fidelity of simulation in logistics systems. A method to manage fidelity is developed, and three standards according to which fidelity levels can be described are presented. To quantify the differences between different fidelity levels, a Book Retrieval Module in a Book Distribution Center Design Project is studied, three models with different fidelity levels are built, and a method to calculate the differences is given. A system of evaluation index is developed. Some suggestions about fidelity management and evaluation are given at last.","PeriodicalId":140270,"journal":{"name":"2009 IEEE International Conference on Automation and Logistics","volume":"5 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":"131107152","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.2009.5262657
Wei Hong, Yantao Tian, Changjiu Zhou
This paper presents the piecewise Monte Carlo localization method that changes the size of sample set and resampling rules dynamically driven by the state of filter at each recursive update step. The states of filter is divided into global localization and local tracking based on two feature variables: focus and near. Physical walking toward target experiments and simulative kidnap problem experiments were performed on the humanoid soccer robot platform. Experimental results show that the piecewise MCL can acquire useful localization data in a short time and track its position timely with an acceptable errors in both distance and orientation. Moreover, it can transfer between global localization state and local tracking state correctly.
{"title":"The piecewise monte carlo localization system for a humanoid soccer robot","authors":"Wei Hong, Yantao Tian, Changjiu Zhou","doi":"10.1109/ICAL.2009.5262657","DOIUrl":"https://doi.org/10.1109/ICAL.2009.5262657","url":null,"abstract":"This paper presents the piecewise Monte Carlo localization method that changes the size of sample set and resampling rules dynamically driven by the state of filter at each recursive update step. The states of filter is divided into global localization and local tracking based on two feature variables: focus and near. Physical walking toward target experiments and simulative kidnap problem experiments were performed on the humanoid soccer robot platform. Experimental results show that the piecewise MCL can acquire useful localization data in a short time and track its position timely with an acceptable errors in both distance and orientation. Moreover, it can transfer between global localization state and local tracking state correctly.","PeriodicalId":140270,"journal":{"name":"2009 IEEE International Conference on Automation and Logistics","volume":"34 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":"132848429","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.2009.5262650
D. Roy
Rule-based data fusion for heterogeneous field sensory system is a challenging research paradigm till date, primarily due to the inherent characteristics in quantifying the output response of the system. The problem gets even critical when we need to deal with a limited number of elemental sensor-units in field, in contrast to traditional theories dealing with denser agglomeration of (identical) sensor units. In fact, field fusion models used hitherto have been found to be somewhat inappropriate for online detection of target-object(s), unless those are in a pre-assigned layout. Besides, the effect due to zonal distribution of the field-sensors was largely unattended. In answering those lacunas, the present paper dwells on the modeling, algorithm and theoretical analysis of a novel fusion rule-base, in its refined form, centering on the zone-based relative dependency of the finite numbered field sensor-units. Besides, a new proposition is developed for assessing the decision threshold-band, signaling the activation of the field robotic gripper, using a stochastic model.
{"title":"A new fusion rule with dynamic decision threshold for heterogeneous field gripper sensory system: Part II","authors":"D. Roy","doi":"10.1109/ICAL.2009.5262650","DOIUrl":"https://doi.org/10.1109/ICAL.2009.5262650","url":null,"abstract":"Rule-based data fusion for heterogeneous field sensory system is a challenging research paradigm till date, primarily due to the inherent characteristics in quantifying the output response of the system. The problem gets even critical when we need to deal with a limited number of elemental sensor-units in field, in contrast to traditional theories dealing with denser agglomeration of (identical) sensor units. In fact, field fusion models used hitherto have been found to be somewhat inappropriate for online detection of target-object(s), unless those are in a pre-assigned layout. Besides, the effect due to zonal distribution of the field-sensors was largely unattended. In answering those lacunas, the present paper dwells on the modeling, algorithm and theoretical analysis of a novel fusion rule-base, in its refined form, centering on the zone-based relative dependency of the finite numbered field sensor-units. Besides, a new proposition is developed for assessing the decision threshold-band, signaling the activation of the field robotic gripper, using a stochastic model.","PeriodicalId":140270,"journal":{"name":"2009 IEEE International Conference on Automation and Logistics","volume":"6 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":"133000586","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.2009.5262859
Y. Lihua, Qi Shemiao, Geng Haipeng, Y. Lie
This paper presents a numerical treatment to effectively calculate the static characteristics of the full tilting-pad gas bearings by means of the finite element method. The dimensionless results obtained by analyzing the full three-pad tilting-pad bearings cover the eccentricity ratios from 0.0 to 0.95, the bearing preload coefficient from 0 to 0.4, the bearing number from 0.1 to 4.0 and the bearing length-to-diameter ratios from 0.8 to 2.0. Simultaneously, the results under different eccentricity ratios are compared with those of the previous references to confirm that the treatment is effective to predict the static performances of this kind of bearings. The numerical results indicate that these parameters of the bearing all have very pronounced effect on the static performances of this type of bearings. With these parameters increasing, the load capacity of the bearings and the friction between the surface of the journal and the bearing become larger, and other coefficients also change. That is to say, the static performances of the bearings could be enhanced by change these parameters. The results could be extended analytically to more bearings with similar sizes and aspect ratios.
{"title":"Static characteristics of aerodynamic tilting-pad journal bearings","authors":"Y. Lihua, Qi Shemiao, Geng Haipeng, Y. Lie","doi":"10.1109/ICAL.2009.5262859","DOIUrl":"https://doi.org/10.1109/ICAL.2009.5262859","url":null,"abstract":"This paper presents a numerical treatment to effectively calculate the static characteristics of the full tilting-pad gas bearings by means of the finite element method. The dimensionless results obtained by analyzing the full three-pad tilting-pad bearings cover the eccentricity ratios from 0.0 to 0.95, the bearing preload coefficient from 0 to 0.4, the bearing number from 0.1 to 4.0 and the bearing length-to-diameter ratios from 0.8 to 2.0. Simultaneously, the results under different eccentricity ratios are compared with those of the previous references to confirm that the treatment is effective to predict the static performances of this kind of bearings. The numerical results indicate that these parameters of the bearing all have very pronounced effect on the static performances of this type of bearings. With these parameters increasing, the load capacity of the bearings and the friction between the surface of the journal and the bearing become larger, and other coefficients also change. That is to say, the static performances of the bearings could be enhanced by change these parameters. The results could be extended analytically to more bearings with similar sizes and aspect ratios.","PeriodicalId":140270,"journal":{"name":"2009 IEEE International Conference on Automation and Logistics","volume":"57 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":"133553507","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.2009.5262638
Du Xiaoqin, L. Qinghua, Han Jianjun
In the HRL field, there are several main methods such as HAMs, options, MAXQ. A main problem that exists in HAMs is its joint state space consisting of the cross-product of the machine states in the HAM and the states in the original MDP, which can not be completely solved by a subroutine-based state abstraction method. This paper analyzes this problem in detail, provides formal definitions of homomorphism in HAMs and proves the invariance of the optimal solution for HAMs. Several typical examples are analyzed and evaluated. The results show that HAM homomorphism can conquer this problem.
{"title":"HAM homomorphism for state abstraction","authors":"Du Xiaoqin, L. Qinghua, Han Jianjun","doi":"10.1109/ICAL.2009.5262638","DOIUrl":"https://doi.org/10.1109/ICAL.2009.5262638","url":null,"abstract":"In the HRL field, there are several main methods such as HAMs, options, MAXQ. A main problem that exists in HAMs is its joint state space consisting of the cross-product of the machine states in the HAM and the states in the original MDP, which can not be completely solved by a subroutine-based state abstraction method. This paper analyzes this problem in detail, provides formal definitions of homomorphism in HAMs and proves the invariance of the optimal solution for HAMs. Several typical examples are analyzed and evaluated. The results show that HAM homomorphism can conquer this problem.","PeriodicalId":140270,"journal":{"name":"2009 IEEE International Conference on Automation and Logistics","volume":"29 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":"133461766","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.2009.5262871
Jihong Yan, Chao-zhong Guo
With the development of fault prognostics, remaining life prediction is becoming more and more important as a crucial technology of prognostics. In this paper, an improved Markov model is proposed for remaining life prediction. Fuzzy C-Means (FCM) algorithm is employed to perform states division of Markov model in order to avoid the uncertainty of states division depending on personal experience. A FCM-Weighted Markov model is established with eigenvalue level theory to conduct performance degradation and remaining life prediction. Multi-sample prediction is implemented in the application of the FCM-Weighted Markov model. A comparison between basic Markov model and FCM-Weighted Markov model for prediction has been made by simulation data. The results illustrate that the latter model is of better prediction performance. Finally, experiment data collected from a Bently-RK4 rotor unbalance test-bed is applied to validate the FCM-Weighted Markov model, and the effectiveness of the methodology has been proved.
{"title":"A FCM-weighted markov model for remaining life prediction","authors":"Jihong Yan, Chao-zhong Guo","doi":"10.1109/ICAL.2009.5262871","DOIUrl":"https://doi.org/10.1109/ICAL.2009.5262871","url":null,"abstract":"With the development of fault prognostics, remaining life prediction is becoming more and more important as a crucial technology of prognostics. In this paper, an improved Markov model is proposed for remaining life prediction. Fuzzy C-Means (FCM) algorithm is employed to perform states division of Markov model in order to avoid the uncertainty of states division depending on personal experience. A FCM-Weighted Markov model is established with eigenvalue level theory to conduct performance degradation and remaining life prediction. Multi-sample prediction is implemented in the application of the FCM-Weighted Markov model. A comparison between basic Markov model and FCM-Weighted Markov model for prediction has been made by simulation data. The results illustrate that the latter model is of better prediction performance. Finally, experiment data collected from a Bently-RK4 rotor unbalance test-bed is applied to validate the FCM-Weighted Markov model, and the effectiveness of the methodology has been proved.","PeriodicalId":140270,"journal":{"name":"2009 IEEE International Conference on Automation and Logistics","volume":"69 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":"131438661","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.2009.5262893
Zhong Ming, Min De quan, Liu Jian qiu
This paper aims to establish a dynamic vessel fleet planning model in uncertain circumstance, which offers the shipping companies the appropriate development strategy. Based on the characteristics of the shipping market, we consider the market volatility faced by the shipping companies on the strategies of the fleet planning. Firstly, we establish a forecast model to predict the future shipping demand by virtue of Grey — Markov chain. Then we bring the shipping demand as an uncertainty into the fleet planning, further, a dynamic fleet planning model in uncertain circumstances is established from the view of minimizing the total operating costs. Finally, we use an example to verify the model and the algorithm presented. The results show that the model presented is much better. The uncertainties we here bring into the fleet planning play an important role in the decision-making of the shipping companies, which can offers the guarantee for the appropriate development of the fleet.
{"title":"A dynamic vessel fleet planning model in uncertain circumstances","authors":"Zhong Ming, Min De quan, Liu Jian qiu","doi":"10.1109/ICAL.2009.5262893","DOIUrl":"https://doi.org/10.1109/ICAL.2009.5262893","url":null,"abstract":"This paper aims to establish a dynamic vessel fleet planning model in uncertain circumstance, which offers the shipping companies the appropriate development strategy. Based on the characteristics of the shipping market, we consider the market volatility faced by the shipping companies on the strategies of the fleet planning. Firstly, we establish a forecast model to predict the future shipping demand by virtue of Grey — Markov chain. Then we bring the shipping demand as an uncertainty into the fleet planning, further, a dynamic fleet planning model in uncertain circumstances is established from the view of minimizing the total operating costs. Finally, we use an example to verify the model and the algorithm presented. The results show that the model presented is much better. The uncertainties we here bring into the fleet planning play an important role in the decision-making of the shipping companies, which can offers the guarantee for the appropriate development of the fleet.","PeriodicalId":140270,"journal":{"name":"2009 IEEE International Conference on Automation and Logistics","volume":"1 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":"128822701","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.2009.5262723
Xianqing Cao, Meng Bi
In order to overcome the parameter uncertainties, enhance the fast tracking performance of PMSM servo system, a self-tuning fuzzy PI+PD controller is proposed first in this paper. The self-tuning fuzzy PI+PD controller is fast; computing on-line easily and can reduce stability error, especially fitting for application in the speed control of the PMSM servo system. Then an observer is adopted to observe load torque and the observed load torque is also feedforward through a weighting factor to compensate the load torque disturbance. To demonstrate the advantages of the fuzzy PI+PD controller and the load torque feedforword control, the simulation was executed in this research. The simulation results show that the proposed control scheme not only enhances the fast tracking performance, but also increases the robustness of the synchronous motor drive system.
{"title":"Self-tuning fuzzy PI+PD controller for PMSM servo system","authors":"Xianqing Cao, Meng Bi","doi":"10.1109/ICAL.2009.5262723","DOIUrl":"https://doi.org/10.1109/ICAL.2009.5262723","url":null,"abstract":"In order to overcome the parameter uncertainties, enhance the fast tracking performance of PMSM servo system, a self-tuning fuzzy PI+PD controller is proposed first in this paper. The self-tuning fuzzy PI+PD controller is fast; computing on-line easily and can reduce stability error, especially fitting for application in the speed control of the PMSM servo system. Then an observer is adopted to observe load torque and the observed load torque is also feedforward through a weighting factor to compensate the load torque disturbance. To demonstrate the advantages of the fuzzy PI+PD controller and the load torque feedforword control, the simulation was executed in this research. The simulation results show that the proposed control scheme not only enhances the fast tracking performance, but also increases the robustness of the synchronous motor drive system.","PeriodicalId":140270,"journal":{"name":"2009 IEEE International Conference on Automation and Logistics","volume":"25 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":"127522041","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.2009.5262952
Lingfei Wu, M.Q.-H. Meng, Huawei Liang, Wen Gao
In order to explore the moon more effectively, it is very important to enhance the ability of navigation and localization of the lunar rover for exploration achievement of scientific goals. In this paper, an Accurate Localization in Combination with Wireless Sensor Networks and Laser localization scheme is proposed. First, the lunar rover position system consisted of the Lander, the lunar rover and a wireless sensor network is introduced. Then, we compare and analyse the advantages and disadvantages of TOA, TDOA, AOA, and RSSI. In the proposed scheme, the wireless sensor networks first localize themselves with the help of the Lander. For increasing the localization accuracy of the sensor nodes, a novel localization algorithm based on APS algorithm is presented. Next, we detail the lunar rover localization especially in that case where the lunar rover is not in the sight of the Lander. In initial experiment, we validate the proposed method using the test platform designed by us.
{"title":"Accurate localization in combination with wireless sensor networks and laser localization","authors":"Lingfei Wu, M.Q.-H. Meng, Huawei Liang, Wen Gao","doi":"10.1109/ICAL.2009.5262952","DOIUrl":"https://doi.org/10.1109/ICAL.2009.5262952","url":null,"abstract":"In order to explore the moon more effectively, it is very important to enhance the ability of navigation and localization of the lunar rover for exploration achievement of scientific goals. In this paper, an Accurate Localization in Combination with Wireless Sensor Networks and Laser localization scheme is proposed. First, the lunar rover position system consisted of the Lander, the lunar rover and a wireless sensor network is introduced. Then, we compare and analyse the advantages and disadvantages of TOA, TDOA, AOA, and RSSI. In the proposed scheme, the wireless sensor networks first localize themselves with the help of the Lander. For increasing the localization accuracy of the sensor nodes, a novel localization algorithm based on APS algorithm is presented. Next, we detail the lunar rover localization especially in that case where the lunar rover is not in the sight of the Lander. In initial experiment, we validate the proposed method using the test platform designed by us.","PeriodicalId":140270,"journal":{"name":"2009 IEEE International Conference on Automation and Logistics","volume":"86 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":"115234363","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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