Pub Date : 2011-06-26DOI: 10.1109/ICMIC.2011.5973689
Lei Cheng, Lei Cao, Huaiyu Wu, Q. Zhu, Wenxia Xu, Ling Liu
This paper mainly research about the trajectory tracking control of nonholonomic mobile robots. Using the idea of Backstepping, a simple virtual variable is proposed and the corresponding feedback control law of nonholonomic mobile robot is designed via lyapunov direct method, at the same time it can be proved that the control effect can achieve global asymptotic stability. The proposing of a simple virtual variable makes the control law designing more easy. A simulation proves the system's global asymptotic stability, meanwhile, verifies the correctness and effectiveness of the control law.
{"title":"Trajectory tracking control of nonholonomic mobile robots by Backstepping","authors":"Lei Cheng, Lei Cao, Huaiyu Wu, Q. Zhu, Wenxia Xu, Ling Liu","doi":"10.1109/ICMIC.2011.5973689","DOIUrl":"https://doi.org/10.1109/ICMIC.2011.5973689","url":null,"abstract":"This paper mainly research about the trajectory tracking control of nonholonomic mobile robots. Using the idea of Backstepping, a simple virtual variable is proposed and the corresponding feedback control law of nonholonomic mobile robot is designed via lyapunov direct method, at the same time it can be proved that the control effect can achieve global asymptotic stability. The proposing of a simple virtual variable makes the control law designing more easy. A simulation proves the system's global asymptotic stability, meanwhile, verifies the correctness and effectiveness of the control law.","PeriodicalId":210380,"journal":{"name":"Proceedings of 2011 International Conference on Modelling, Identification and Control","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2011-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132230508","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 : 2011-06-26DOI: 10.1109/ICMIC.2011.5973683
M. B. Khaknejad, R. Kazemi, S. Azadi, A. Keshavarz
The chief purpose of this research is to identify the variable vehicle parameters considering the important role of these data in vehicle active safety systems. Generally, implementing sensors to measure these parameters could raise the cost of the product. Parameters of the reference sedan car we focus on are total mass of the car, yaw moment of inertia and distance between the vehicle centre of mass and its front axle as well as vehicle velocity using least square estimation with variable exponential forgetting factor. The estimator equations are derived based on the bicycle model of vehicle. The performance of designed estimator is evaluated by virtual simulations performed with the aim of the full vehicle model in ADAMS/Car in different maneuvers. The obtained results show the accurate, prompt and appropriate performance of the estimator in parameter estimation.
{"title":"Identification of vehicle parameters using modified least square method in ADAMS/Car","authors":"M. B. Khaknejad, R. Kazemi, S. Azadi, A. Keshavarz","doi":"10.1109/ICMIC.2011.5973683","DOIUrl":"https://doi.org/10.1109/ICMIC.2011.5973683","url":null,"abstract":"The chief purpose of this research is to identify the variable vehicle parameters considering the important role of these data in vehicle active safety systems. Generally, implementing sensors to measure these parameters could raise the cost of the product. Parameters of the reference sedan car we focus on are total mass of the car, yaw moment of inertia and distance between the vehicle centre of mass and its front axle as well as vehicle velocity using least square estimation with variable exponential forgetting factor. The estimator equations are derived based on the bicycle model of vehicle. The performance of designed estimator is evaluated by virtual simulations performed with the aim of the full vehicle model in ADAMS/Car in different maneuvers. The obtained results show the accurate, prompt and appropriate performance of the estimator in parameter estimation.","PeriodicalId":210380,"journal":{"name":"Proceedings of 2011 International Conference on Modelling, Identification and Control","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2011-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132528865","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 : 2011-06-26DOI: 10.1109/ICMIC.2011.5973738
Guo Yan-lei, Wang Zheng-jie
It is required that the loitering aero vehicle with MEFP (Multi-Mode Explosively Formed Penetrator) in warhead plays its role to the largest extent in constraining the terminal angle. This article develops a guidance law that guarantees both the hitting target and its angle of fall. First relationship between the target and aircraft is established and its nonlinearity is linearized; next a parameter is introduced and through the change of reference point and the working on Riccati equation, the guidance law with optimum control method is achieved to gain the satisfied terminal angle. It is proved by simulation that the guidance law performs well in controlling terminal angle and the ballistic trajectory.
{"title":"Research on guidance law with terminal constraint based on optimum control","authors":"Guo Yan-lei, Wang Zheng-jie","doi":"10.1109/ICMIC.2011.5973738","DOIUrl":"https://doi.org/10.1109/ICMIC.2011.5973738","url":null,"abstract":"It is required that the loitering aero vehicle with MEFP (Multi-Mode Explosively Formed Penetrator) in warhead plays its role to the largest extent in constraining the terminal angle. This article develops a guidance law that guarantees both the hitting target and its angle of fall. First relationship between the target and aircraft is established and its nonlinearity is linearized; next a parameter is introduced and through the change of reference point and the working on Riccati equation, the guidance law with optimum control method is achieved to gain the satisfied terminal angle. It is proved by simulation that the guidance law performs well in controlling terminal angle and the ballistic trajectory.","PeriodicalId":210380,"journal":{"name":"Proceedings of 2011 International Conference on Modelling, Identification and Control","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2011-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124353988","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 : 2011-06-26DOI: 10.1109/ICMIC.2011.5973727
Shao-cheng Qu, Sha Ni, Lili Nie, Wentong Li
A novel fluxgate digital magnetic compass system is introduced based on fluxgate technology and two axis dip angle sensor. The algorithms of magnetic compass orientation technology are introduced. The principle of peak detection approach and the approach of digit driver is researched. The system uses Atmega16L MCU to processes the data, and to avoid stability problem caused traditional RC analog drive circuit; digital square-wave signal from the MCU is applied to directly drive the fluxgate sensor. Furthermore, the system resolution factor is guaranteed by sampling the fluxgate signal with special ADC (16bit). It has already been successfully applied to some type of digital magnetic compass.
{"title":"Design of three axis fluxgate digital magnetic compass","authors":"Shao-cheng Qu, Sha Ni, Lili Nie, Wentong Li","doi":"10.1109/ICMIC.2011.5973727","DOIUrl":"https://doi.org/10.1109/ICMIC.2011.5973727","url":null,"abstract":"A novel fluxgate digital magnetic compass system is introduced based on fluxgate technology and two axis dip angle sensor. The algorithms of magnetic compass orientation technology are introduced. The principle of peak detection approach and the approach of digit driver is researched. The system uses Atmega16L MCU to processes the data, and to avoid stability problem caused traditional RC analog drive circuit; digital square-wave signal from the MCU is applied to directly drive the fluxgate sensor. Furthermore, the system resolution factor is guaranteed by sampling the fluxgate signal with special ADC (16bit). It has already been successfully applied to some type of digital magnetic compass.","PeriodicalId":210380,"journal":{"name":"Proceedings of 2011 International Conference on Modelling, Identification and Control","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2011-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122364502","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 : 2011-06-26DOI: 10.1109/ICMIC.2011.5973675
J. Vasu, A. K. Deb, S. Mukhopadhyay, Kallappa Pattada
Mean Value Engine Models (MVEM) model the averaged dynamics of an automobile engine and have been used for the purpose of automotive control and fault diagnosis. Within-Cycle, Crank-Angle based Models (WCCM) are complex models that model the instantaneous dynamics of engine states and replace a real engine for simulation purposes. A WCCM was constructed on the simulation platform AMESim™. An MVEM was derived from this simulation data. The motivation for this work was to use this model in an MVEM based Fault Diagnoser
均值发动机模型(Mean Value Engine Models, MVEM)是对汽车发动机的平均动力学特性进行建模的方法，已广泛应用于汽车控制和故障诊断。在周期内，基于曲柄角的模型(WCCM)是一种复杂的模型，它可以模拟发动机状态的瞬时动力学，并取代真实的发动机进行仿真。在仿真平台AMESim™上构建了WCCM。根据仿真数据推导出了MVEM模型。这项工作的动机是在基于MVEM的故障诊断器中使用该模型
{"title":"Development and validation of an MVEM from an SI-engine based WCCM","authors":"J. Vasu, A. K. Deb, S. Mukhopadhyay, Kallappa Pattada","doi":"10.1109/ICMIC.2011.5973675","DOIUrl":"https://doi.org/10.1109/ICMIC.2011.5973675","url":null,"abstract":"Mean Value Engine Models (MVEM) model the averaged dynamics of an automobile engine and have been used for the purpose of automotive control and fault diagnosis. Within-Cycle, Crank-Angle based Models (WCCM) are complex models that model the instantaneous dynamics of engine states and replace a real engine for simulation purposes. A WCCM was constructed on the simulation platform AMESim™. An MVEM was derived from this simulation data. The motivation for this work was to use this model in an MVEM based Fault Diagnoser","PeriodicalId":210380,"journal":{"name":"Proceedings of 2011 International Conference on Modelling, Identification and Control","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2011-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123417193","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 study, a new terminal converging PD control is developed for parallel robotic manipulators with bounded torque. By using decimal fraction power of tracking error, the proposed approach can achieve asymptotic stability with faster converging speed than conventional saturating PD control. In terms of LaSalle's invariance principle, the corresponding theoretical analysis is presented. Finally, an illustrative example is bench tested to validate the effectiveness of the proposed approach.
{"title":"A new terminal converging PD control for parallel robotic manipulators with bounded torque","authors":"Dongya Zhao, Yongrui Zhao, Shaoyuan Li, Quanmin Zhu","doi":"10.1109/ICMIC.2011.5973686","DOIUrl":"https://doi.org/10.1109/ICMIC.2011.5973686","url":null,"abstract":"In this study, a new terminal converging PD control is developed for parallel robotic manipulators with bounded torque. By using decimal fraction power of tracking error, the proposed approach can achieve asymptotic stability with faster converging speed than conventional saturating PD control. In terms of LaSalle's invariance principle, the corresponding theoretical analysis is presented. Finally, an illustrative example is bench tested to validate the effectiveness of the proposed approach.","PeriodicalId":210380,"journal":{"name":"Proceedings of 2011 International Conference on Modelling, Identification and Control","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2011-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127490446","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 : 2011-06-26DOI: 10.1109/ICMIC.2011.5973764
G. Peng, Li Wen, Yao Feng, Bai Baocun, Yang Jing
The slew operations of earth observation satellites are tightly constrained, observation scheduling with task merging can improve satellites observing efficiency. The model of satellite observation scheduling problem with task merging is proposed in this paper article and a Very Fast Simulated Annealing algorithm (VFSA) is developed to solve the problem. The VFSA algorithm employs compose and decompose neighborhoods for dynamic task merging. To avoid the local optimum solutions and improve the exploration abilities, re-annealing and three diversification strategies, perturb, rearrange and restart are defined in VFSA. Experiments results show the effectiveness of our approach.
{"title":"Simulated annealing algorithm for EOS scheduling problem with task merging","authors":"G. Peng, Li Wen, Yao Feng, Bai Baocun, Yang Jing","doi":"10.1109/ICMIC.2011.5973764","DOIUrl":"https://doi.org/10.1109/ICMIC.2011.5973764","url":null,"abstract":"The slew operations of earth observation satellites are tightly constrained, observation scheduling with task merging can improve satellites observing efficiency. The model of satellite observation scheduling problem with task merging is proposed in this paper article and a Very Fast Simulated Annealing algorithm (VFSA) is developed to solve the problem. The VFSA algorithm employs compose and decompose neighborhoods for dynamic task merging. To avoid the local optimum solutions and improve the exploration abilities, re-annealing and three diversification strategies, perturb, rearrange and restart are defined in VFSA. Experiments results show the effectiveness of our approach.","PeriodicalId":210380,"journal":{"name":"Proceedings of 2011 International Conference on Modelling, Identification and Control","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2011-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125367187","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 : 2011-06-26DOI: 10.1504/IJMIC.2013.052813
C. Yeh, Chien-Yi Huang, Ful-Chiang Wu
This paper proposes a four-phase quality function deployment (QFD) involving TRIZ thinking strategy to enhance breakthrough capabilities for preventative and proactive design in product R&D process. Continuously developed opportunities for breakthrough innovation' are highlighted. In QFD1, identified customer needs are translated into technical specifications / design requirements. QFD2 is responsible for defining product structure, takes an initial DFA approach that provides a minimalist structure and drafts a rough schematic diagram that demonstrates visually the position of modules and their interactions. Optimal design parameters for the in-house made components are planned in the QFD3. QFD4 considers problems that may result from all manufacturing process parameters and then delivers recommendations for quality control and site supervision that reflect appropriately differing levels of stringency. Leveraging the introduction and execution of this four phase QFD, we can quickly and efficiently certify whether design changes or innovative product concepts meet customer specifications, target quality level and cost. In addition, this paper pinpoints the areas the TRIZ can be used to propose innovative methods for problem solving. As contradictory requirements appeared for the system, TRIZ methodology helps decrease negative effects and improves performance of existing design.
{"title":"A breakthrough product R&D model by using the integration of four-phases QFDs and TRIZ","authors":"C. Yeh, Chien-Yi Huang, Ful-Chiang Wu","doi":"10.1504/IJMIC.2013.052813","DOIUrl":"https://doi.org/10.1504/IJMIC.2013.052813","url":null,"abstract":"This paper proposes a four-phase quality function deployment (QFD) involving TRIZ thinking strategy to enhance breakthrough capabilities for preventative and proactive design in product R&D process. Continuously developed opportunities for breakthrough innovation' are highlighted. In QFD1, identified customer needs are translated into technical specifications / design requirements. QFD2 is responsible for defining product structure, takes an initial DFA approach that provides a minimalist structure and drafts a rough schematic diagram that demonstrates visually the position of modules and their interactions. Optimal design parameters for the in-house made components are planned in the QFD3. QFD4 considers problems that may result from all manufacturing process parameters and then delivers recommendations for quality control and site supervision that reflect appropriately differing levels of stringency. Leveraging the introduction and execution of this four phase QFD, we can quickly and efficiently certify whether design changes or innovative product concepts meet customer specifications, target quality level and cost. In addition, this paper pinpoints the areas the TRIZ can be used to propose innovative methods for problem solving. As contradictory requirements appeared for the system, TRIZ methodology helps decrease negative effects and improves performance of existing design.","PeriodicalId":210380,"journal":{"name":"Proceedings of 2011 International Conference on Modelling, Identification and Control","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2011-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117151558","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 : 2011-06-26DOI: 10.1109/ICMIC.2011.5973760
Chang-Ming Hu, C. Yeh
The aim of this research is to integrate QFD and TRIZ theories into innovative principles of the medical care bed design. The use of QFD matrix expansion and its importance for evaluation and analysis to build the front-end preventive design process that will meet customer needs, the evaluation is based on the order of importance, the quality characteristics of the target specifications and quality characteristics of correlation matrix. The analytical data can be used to assist in resolving the conflicts of the TRIZ innovative principles to solve engineering problems and developing new concepts to meet customer's specific demands, and then apply TRIZ to define the points on anti-bedsore, perform ideality analysis and find useful resources. After doing the Table of Contradictions, TRIZ 40-principle and single characteristic principle are good to find solutions on improving anti-bedsore design. They can also provide the medical care bed design staff with more effective ways to accelerate the product development and to increase market competitiveness.
{"title":"The synergy of QFD and TRIZ design practice — A case study for medical care bed","authors":"Chang-Ming Hu, C. Yeh","doi":"10.1109/ICMIC.2011.5973760","DOIUrl":"https://doi.org/10.1109/ICMIC.2011.5973760","url":null,"abstract":"The aim of this research is to integrate QFD and TRIZ theories into innovative principles of the medical care bed design. The use of QFD matrix expansion and its importance for evaluation and analysis to build the front-end preventive design process that will meet customer needs, the evaluation is based on the order of importance, the quality characteristics of the target specifications and quality characteristics of correlation matrix. The analytical data can be used to assist in resolving the conflicts of the TRIZ innovative principles to solve engineering problems and developing new concepts to meet customer's specific demands, and then apply TRIZ to define the points on anti-bedsore, perform ideality analysis and find useful resources. After doing the Table of Contradictions, TRIZ 40-principle and single characteristic principle are good to find solutions on improving anti-bedsore design. They can also provide the medical care bed design staff with more effective ways to accelerate the product development and to increase market competitiveness.","PeriodicalId":210380,"journal":{"name":"Proceedings of 2011 International Conference on Modelling, Identification and Control","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2011-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114349494","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 : 2011-06-26DOI: 10.1109/ICMIC.2011.5973762
Samira Rahnama, Mohammad Reza Arvan
This paper addresses the application of the non real-time estimators, extended Kalman smoother and the two recently developed unscented Kalman smoother algorithms in deriving kinematic characteristics of a high maneuver flying target which is tracked with two passive sensors. Also the performance of these algorithms is compared over Monte Carlo simulations.
{"title":"Comparison of extended and unscented Kalman smoother in deriving kinematic characteristics of a high maneuver flying target","authors":"Samira Rahnama, Mohammad Reza Arvan","doi":"10.1109/ICMIC.2011.5973762","DOIUrl":"https://doi.org/10.1109/ICMIC.2011.5973762","url":null,"abstract":"This paper addresses the application of the non real-time estimators, extended Kalman smoother and the two recently developed unscented Kalman smoother algorithms in deriving kinematic characteristics of a high maneuver flying target which is tracked with two passive sensors. Also the performance of these algorithms is compared over Monte Carlo simulations.","PeriodicalId":210380,"journal":{"name":"Proceedings of 2011 International Conference on Modelling, Identification and Control","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2011-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124061043","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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