Pub Date : 2009-09-25DOI: 10.1109/ICAL.2009.5262835
Yaozhen Han, Hairong Xiao, Changshun Wang, F. Zhou
Because of the strong non-linearity and uncertainty, the dynamics restraints of autopilots, as well as the effect of wave disturbances, designing a high performance ship course controller is always a difficult work. This paper presents a design of the ship course auto disturbance rejection controller (ADRC) based on the nonlinear mathematical model of ship course locomotion with autopilot restrictions and the model of wave disturbances. The simulation results of ship course tracking and keeping show that the controller has good adaptabilities on the system nonlinearity and strong robustness to parameter perturbations of the ship and environmental disturbances. And the course switching is fast and smooth with small rudder turning volume, thus achieved high-accurate ship course control.
{"title":"Design and simulation of ship course controller based on auto disturbance rejection control technique","authors":"Yaozhen Han, Hairong Xiao, Changshun Wang, F. Zhou","doi":"10.1109/ICAL.2009.5262835","DOIUrl":"https://doi.org/10.1109/ICAL.2009.5262835","url":null,"abstract":"Because of the strong non-linearity and uncertainty, the dynamics restraints of autopilots, as well as the effect of wave disturbances, designing a high performance ship course controller is always a difficult work. This paper presents a design of the ship course auto disturbance rejection controller (ADRC) based on the nonlinear mathematical model of ship course locomotion with autopilot restrictions and the model of wave disturbances. The simulation results of ship course tracking and keeping show that the controller has good adaptabilities on the system nonlinearity and strong robustness to parameter perturbations of the ship and environmental disturbances. And the course switching is fast and smooth with small rudder turning volume, thus achieved high-accurate ship course control.","PeriodicalId":140270,"journal":{"name":"2009 IEEE International Conference on Automation and Logistics","volume":"361 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":"126698894","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.2009.5262992
A. Angerer, A. Hoffmann, F. Ortmeier, M. Vistein, W. Reif
During the last 15 years the way how software products are being developed has changed dramatically. Today, software is developed very efficiently in an industrialized manner. One of the cornerstones is that new development processes introduced a domain-centric view rather than a technology-centric view. As a result, big and complex software systems can be built very fast, reliable and according to customers' requirements. Unfortunately, these advances in software engineering have had little to no effect on the software development process for robotic applications. This paper explains how domain-centric design can be introduced in the domain of industrial robotics and which possible benefits it might yield.
{"title":"Object-centric programming: A new modeling paradigm for robotic applications","authors":"A. Angerer, A. Hoffmann, F. Ortmeier, M. Vistein, W. Reif","doi":"10.1109/ICAL.2009.5262992","DOIUrl":"https://doi.org/10.1109/ICAL.2009.5262992","url":null,"abstract":"During the last 15 years the way how software products are being developed has changed dramatically. Today, software is developed very efficiently in an industrialized manner. One of the cornerstones is that new development processes introduced a domain-centric view rather than a technology-centric view. As a result, big and complex software systems can be built very fast, reliable and according to customers' requirements. Unfortunately, these advances in software engineering have had little to no effect on the software development process for robotic applications. This paper explains how domain-centric design can be introduced in the domain of industrial robotics and which possible benefits it might yield.","PeriodicalId":140270,"journal":{"name":"2009 IEEE International Conference on Automation and Logistics","volume":"2 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":"122974228","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.2009.5262794
Huijing Wang, Sanfeng Chen, Junyao Liu
Spatial plantar pressure measurement system were investigated to extract features of gait in clinical podiatry. In this paper, the design of a novel 3D Platform system suitable for the measurement of human foot pressure distribution is proposed. This consists of a 3D force measuring platform equipped with sensor array, and user-friendly software to graph and analyze the data. Also, a proposed Butterworth low-pass filter for the signals preconditioning is employed effectively. The article describes the original concept and the performance of the system. Meanwhile, the extracted gait parameters are indicated in the end.
{"title":"Measuring system of a 3D force platform for plantar pressure distribution","authors":"Huijing Wang, Sanfeng Chen, Junyao Liu","doi":"10.1109/ICAL.2009.5262794","DOIUrl":"https://doi.org/10.1109/ICAL.2009.5262794","url":null,"abstract":"Spatial plantar pressure measurement system were investigated to extract features of gait in clinical podiatry. In this paper, the design of a novel 3D Platform system suitable for the measurement of human foot pressure distribution is proposed. This consists of a 3D force measuring platform equipped with sensor array, and user-friendly software to graph and analyze the data. Also, a proposed Butterworth low-pass filter for the signals preconditioning is employed effectively. The article describes the original concept and the performance of the system. Meanwhile, the extracted gait parameters are indicated in the end.","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":"121816994","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.2009.5262960
Xiao Xue, Biqing Huang, Tianyuan Xiao
This paper introduces the concept of cluster supply chain. Cluster supply chain is a set of networks comprised of horizontal ties between firms within a particular industrial cluster, which are sequentially arranged based on vertical ties between firms in different layers. Cluster supply chain analysis integrates supply chain and network perspectives on inter-organizational collaboration with particular emphasis on the value creating and coordination mechanism. We posit that sources of value and coordination mechanisms correspond to distinct types of collaborations: vertical, pooled horizontal and reciprocal horizontal. It is further argued that there may be many challenges in the construction of cluster supply chain.
{"title":"The study of inter-organizational collaboration by cluster supply chain","authors":"Xiao Xue, Biqing Huang, Tianyuan Xiao","doi":"10.1109/ICAL.2009.5262960","DOIUrl":"https://doi.org/10.1109/ICAL.2009.5262960","url":null,"abstract":"This paper introduces the concept of cluster supply chain. Cluster supply chain is a set of networks comprised of horizontal ties between firms within a particular industrial cluster, which are sequentially arranged based on vertical ties between firms in different layers. Cluster supply chain analysis integrates supply chain and network perspectives on inter-organizational collaboration with particular emphasis on the value creating and coordination mechanism. We posit that sources of value and coordination mechanisms correspond to distinct types of collaborations: vertical, pooled horizontal and reciprocal horizontal. It is further argued that there may be many challenges in the construction of cluster supply chain.","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":"122411505","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.2009.5262720
D. Selișteanu, E. Petre, D. Sendrescu, M. Roman, D. Popescu
This paper deals with the problem of on-line estimation of kinetic rates inside biological Sequencing Batch Reactors (SBRs). Two wastewater treatment bioprocesses that are carried out inside SBRs are taken into consideration. These biotechnological processes are highly nonlinear and, furthermore, the available on-line measurements are lack and the reaction kinetics is not perfectly known. The unknown kinetic parameters are estimated by using nonlinear observers, based on high-gain approach. The estimation scheme does not require any model for the kinetic rates. The tuning of the proposed observers is reduced to the calibration of a single parameter. Numerical simulations are included in order to test the behaviour and the performance of the proposed observers.
{"title":"High-gain observers for estimation of kinetics in biological sequencing batch reactors","authors":"D. Selișteanu, E. Petre, D. Sendrescu, M. Roman, D. Popescu","doi":"10.1109/ICAL.2009.5262720","DOIUrl":"https://doi.org/10.1109/ICAL.2009.5262720","url":null,"abstract":"This paper deals with the problem of on-line estimation of kinetic rates inside biological Sequencing Batch Reactors (SBRs). Two wastewater treatment bioprocesses that are carried out inside SBRs are taken into consideration. These biotechnological processes are highly nonlinear and, furthermore, the available on-line measurements are lack and the reaction kinetics is not perfectly known. The unknown kinetic parameters are estimated by using nonlinear observers, based on high-gain approach. The estimation scheme does not require any model for the kinetic rates. The tuning of the proposed observers is reduced to the calibration of a single parameter. Numerical simulations are included in order to test the behaviour and the performance of the proposed observers.","PeriodicalId":140270,"journal":{"name":"2009 IEEE International Conference on Automation and Logistics","volume":"41 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":"131122412","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.2009.5262839
Ming Yan, Jinhui Yi, Yang Liu, Junxiu Wei, Xiao Huang
In this parer, a sliding mode control algorithm based on Takagi-Sugeno (T-S) fuzzy model for a class of nonlinear systems is proposed. The nonlinear system is approximately represent by a T-S fuzzy model with mismatched parameter uncertainties and time-varying delay. An asymptotically stable sliding surface is designed by means of linear matrix inequality (LMI). The sliding surface can compensate for the effect of mismatched parameter uncertainties in system state. A robust sliding mode controller is designed to ensure the existence of a sliding mode and to overcome the effect of the time-varying delay and the uncertainties of the system. In addition, a novel reaching condition that can obviously reduce chattering around the sliding surface is also proposed. Matlab simulation results are offered to verify the effectiveness of the proposed algorithm.
{"title":"Sliding mode control algorithm based on T-S fuzzy model for a class of nonlinear systems","authors":"Ming Yan, Jinhui Yi, Yang Liu, Junxiu Wei, Xiao Huang","doi":"10.1109/ICAL.2009.5262839","DOIUrl":"https://doi.org/10.1109/ICAL.2009.5262839","url":null,"abstract":"In this parer, a sliding mode control algorithm based on Takagi-Sugeno (T-S) fuzzy model for a class of nonlinear systems is proposed. The nonlinear system is approximately represent by a T-S fuzzy model with mismatched parameter uncertainties and time-varying delay. An asymptotically stable sliding surface is designed by means of linear matrix inequality (LMI). The sliding surface can compensate for the effect of mismatched parameter uncertainties in system state. A robust sliding mode controller is designed to ensure the existence of a sliding mode and to overcome the effect of the time-varying delay and the uncertainties of the system. In addition, a novel reaching condition that can obviously reduce chattering around the sliding surface is also proposed. Matlab simulation results are offered to verify the effectiveness of the proposed algorithm.","PeriodicalId":140270,"journal":{"name":"2009 IEEE International Conference on Automation and Logistics","volume":"8 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":"127652832","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.2009.5262679
Chenglin Shen, Xinxin Zhang, K. Ma
In this paper, we consider a two-echelon reverse supply chain system with one manufacturer, one retailer and a group of consumers, which offers consumers with perishable products, and consumers are allowed to return products to the retailer after purchasing. Joint decision models of delivery time and ordering quantity as well as refund was established separately in decentralized decision mode and centralized decision mode under the random market demand and delivery time. Further, we also analyze the optimal decisions under the two modes. Results show that centralized decisions not only shorten the delivery time and increase the total profit of the supply chain but increase the ordering quantity. Finally, a sales rebate contract is designed for supply chain coordination and the mechanisms are also discussed.
{"title":"Coordination contracts for a kind of reverse supply chain based on retailer's delivery time guarantee","authors":"Chenglin Shen, Xinxin Zhang, K. Ma","doi":"10.1109/ICAL.2009.5262679","DOIUrl":"https://doi.org/10.1109/ICAL.2009.5262679","url":null,"abstract":"In this paper, we consider a two-echelon reverse supply chain system with one manufacturer, one retailer and a group of consumers, which offers consumers with perishable products, and consumers are allowed to return products to the retailer after purchasing. Joint decision models of delivery time and ordering quantity as well as refund was established separately in decentralized decision mode and centralized decision mode under the random market demand and delivery time. Further, we also analyze the optimal decisions under the two modes. Results show that centralized decisions not only shorten the delivery time and increase the total profit of the supply chain but increase the ordering quantity. Finally, a sales rebate contract is designed for supply chain coordination and the mechanisms are also discussed.","PeriodicalId":140270,"journal":{"name":"2009 IEEE International Conference on Automation and Logistics","volume":"1 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":"133900736","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.2009.5262675
Jun Zhao, Wei Wang, Sujie Tian
Considering a great number of manufacturing units and a diversity of product categories in cold rolling production line, a total cost objective function is established in this paper which is on the basis of satisfying the demand of customer orders and controlling inventory within a reasonable range. To obtain a better solution, a class of correlative genetic algorithm is used to solve such function. For verifying the effectiveness of the proposed solution, the real practical production data from the cold mill of Shanghai Baosteel Co., Ltd are adopted to simulate during which this proposed model and algorithm shows that the good results can be achieved.
{"title":"Material balance model and scheduling algorithm of cold rolling production line","authors":"Jun Zhao, Wei Wang, Sujie Tian","doi":"10.1109/ICAL.2009.5262675","DOIUrl":"https://doi.org/10.1109/ICAL.2009.5262675","url":null,"abstract":"Considering a great number of manufacturing units and a diversity of product categories in cold rolling production line, a total cost objective function is established in this paper which is on the basis of satisfying the demand of customer orders and controlling inventory within a reasonable range. To obtain a better solution, a class of correlative genetic algorithm is used to solve such function. For verifying the effectiveness of the proposed solution, the real practical production data from the cold mill of Shanghai Baosteel Co., Ltd are adopted to simulate during which this proposed model and algorithm shows that the good results can be achieved.","PeriodicalId":140270,"journal":{"name":"2009 IEEE International Conference on Automation and Logistics","volume":"16 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":"134235631","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.2009.5262790
Cheng Yu-hua, Lei Kai
A sub-surface imaging method for detecting invisible and buried micro-flaws under fine metallic surface is described. This system, which has a laser source, a CCD camera, and an eddy current exciting device is developed for this work. A pulse generator supplies an intermittent square pulse to induce the exciting coil, which can intensify eddy currents yet reduce the working temperature of the exciting coil and specimens. The magnetic field variation produced by the imbedded defect causes a rotation of the polarization plane of the reflected beam, therefore the reflected beam carries an image of the defect, which is received by a CCD camera. Now the imperceptible flaws in subsurface of mental product are visually tested. Image edge processing approaches are designed to enhance the imaging effect. The method presented is proved to be feasible by the experiment results.
{"title":"Application of sub-surface imaging system for detecting defects of metal material","authors":"Cheng Yu-hua, Lei Kai","doi":"10.1109/ICAL.2009.5262790","DOIUrl":"https://doi.org/10.1109/ICAL.2009.5262790","url":null,"abstract":"A sub-surface imaging method for detecting invisible and buried micro-flaws under fine metallic surface is described. This system, which has a laser source, a CCD camera, and an eddy current exciting device is developed for this work. A pulse generator supplies an intermittent square pulse to induce the exciting coil, which can intensify eddy currents yet reduce the working temperature of the exciting coil and specimens. The magnetic field variation produced by the imbedded defect causes a rotation of the polarization plane of the reflected beam, therefore the reflected beam carries an image of the defect, which is received by a CCD camera. Now the imperceptible flaws in subsurface of mental product are visually tested. Image edge processing approaches are designed to enhance the imaging effect. The method presented is proved to be feasible by the experiment results.","PeriodicalId":140270,"journal":{"name":"2009 IEEE International Conference on Automation and Logistics","volume":"27 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":"134369948","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.2009.5262654
Ma Hongwei, Tian Hao, L. Xiaopeng
According to demand of six-pedrail mine rescue robot in a complex enfironment, it is designed as modularization of hardware architecture based on upper and lower processor of multi-cpu, using IPC as the central computer. The motion control system software is built though VC++. The experiments show that the system can conrol two drive-motors and four-arm motors well, and the demand of motion montrol mystem of mine rescue robot is met. Motion control system of mine rescue robot has good real-time, reliability, accuracy, and openness.
{"title":"Research on motion control system of mine rescue robot","authors":"Ma Hongwei, Tian Hao, L. Xiaopeng","doi":"10.1109/ICAL.2009.5262654","DOIUrl":"https://doi.org/10.1109/ICAL.2009.5262654","url":null,"abstract":"According to demand of six-pedrail mine rescue robot in a complex enfironment, it is designed as modularization of hardware architecture based on upper and lower processor of multi-cpu, using IPC as the central computer. The motion control system software is built though VC++. The experiments show that the system can conrol two drive-motors and four-arm motors well, and the demand of motion montrol mystem of mine rescue robot is met. Motion control system of mine rescue robot has good real-time, reliability, accuracy, and openness.","PeriodicalId":140270,"journal":{"name":"2009 IEEE International Conference on Automation and Logistics","volume":"42 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":"134415779","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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