Pub Date : 2011-06-21DOI: 10.1109/WCICA.2011.5970744
Luhai Wang, Hui Zhao, Xu Ming, Jiming Yang, Jun Li, Song Guan
This paper gives a numerical simulation to research the turbine flowmeter at starting flow by ANSYS 12.1 and verifies the accuracy of the simulation by experimental method. And it is found that the simulation method is reasonable for the investigation and can be used for improving the performance of turbine flowmeter at low flow rate. Finally, the consequence of the gap between the blade tip and shell is discussed.
{"title":"An investigation on the behaviours of a turbine flowmeter under low flow rate condition","authors":"Luhai Wang, Hui Zhao, Xu Ming, Jiming Yang, Jun Li, Song Guan","doi":"10.1109/WCICA.2011.5970744","DOIUrl":"https://doi.org/10.1109/WCICA.2011.5970744","url":null,"abstract":"This paper gives a numerical simulation to research the turbine flowmeter at starting flow by ANSYS 12.1 and verifies the accuracy of the simulation by experimental method. And it is found that the simulation method is reasonable for the investigation and can be used for improving the performance of turbine flowmeter at low flow rate. Finally, the consequence of the gap between the blade tip and shell is discussed.","PeriodicalId":211049,"journal":{"name":"2011 9th World Congress on Intelligent Control and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2011-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125510474","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 : 2011-06-21DOI: 10.1109/WCICA.2011.5970686
Jinbo Shi, Chun-jian Yu, Zexiang Li
An accurate kinematic model is one of the fundamental requirements of high performance robotic manipulators. But due to the existence of tolerance and clearance, calibration should be always carried out first of all to identify the inaccuracy and further modification of the kinematic model. In this paper, the calibration work of a planar parallel manipulator was presented in details. And an innovative algorithm to solve the nonlinear optimization problem was proposed, which's named “Random-Levenberg-Marquardt” algorithm. With specific illustration and practical experiment result, this algorithm was proved to be efficient, accurate and easily implementable comparing to the traditional methods.
{"title":"Kinematic model identification of planar delta manipulator using Random Levenberg-Marquardt algorithm","authors":"Jinbo Shi, Chun-jian Yu, Zexiang Li","doi":"10.1109/WCICA.2011.5970686","DOIUrl":"https://doi.org/10.1109/WCICA.2011.5970686","url":null,"abstract":"An accurate kinematic model is one of the fundamental requirements of high performance robotic manipulators. But due to the existence of tolerance and clearance, calibration should be always carried out first of all to identify the inaccuracy and further modification of the kinematic model. In this paper, the calibration work of a planar parallel manipulator was presented in details. And an innovative algorithm to solve the nonlinear optimization problem was proposed, which's named “Random-Levenberg-Marquardt” algorithm. With specific illustration and practical experiment result, this algorithm was proved to be efficient, accurate and easily implementable comparing to the traditional methods.","PeriodicalId":211049,"journal":{"name":"2011 9th World Congress on Intelligent Control and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2011-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131778644","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 : 2011-06-21DOI: 10.1109/WCICA.2011.5970677
Changting Shi, Ru-bo Zhang, Jing Zhao
According to the research on failure recovery of AUV software system, a method based on micro-reboot mechanism and Partially Observable Markov Decision Process (POMDP) model for solving failure recovery of AUV is presented. An analytical multi-level model is presented and a micro-reboot mechanism under Fine-grained is learned. Considering self-recovery theory and the applicability of POMDP model, a failure recovery model based on POMDP is established and the basic factors of model are given. Results of experiment prove the validity of algorithm and the applicability of the model.
{"title":"Software self-recovery method of AUV based on micro-reboot","authors":"Changting Shi, Ru-bo Zhang, Jing Zhao","doi":"10.1109/WCICA.2011.5970677","DOIUrl":"https://doi.org/10.1109/WCICA.2011.5970677","url":null,"abstract":"According to the research on failure recovery of AUV software system, a method based on micro-reboot mechanism and Partially Observable Markov Decision Process (POMDP) model for solving failure recovery of AUV is presented. An analytical multi-level model is presented and a micro-reboot mechanism under Fine-grained is learned. Considering self-recovery theory and the applicability of POMDP model, a failure recovery model based on POMDP is established and the basic factors of model are given. Results of experiment prove the validity of algorithm and the applicability of the model.","PeriodicalId":211049,"journal":{"name":"2011 9th World Congress on Intelligent Control and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2011-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116616367","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 : 2011-06-21DOI: 10.1109/WCICA.2011.5970570
A. Al-Bayati, Hong Wang
To study the properties of the nonlinear robot model and introduce a new adaptive fault tolerant strategy, this paper has been introduced. The adaptive fault tolerant control scheme is designed via two (PID) Proportional -Integral - derivative controllers and a nonlinear observer. The nonlinear model of two inverted robot joints arms on a cart and has been studied and simulated with presence of an additive fault and a disturbance (white noise) in the system. The nonlinear adaptive observer is designed to eliminate the effect of the Coriolis and centrifugal torque and detect the fault and noise. The two PID controllers compensate the errors to increase the integrity of the strategy. The proposed strategy reconfigures the control law to overcome the errors and faults. An illustrated example is simulated and the encouraged results have been obtained.
{"title":"A robust new nonlinear fault tolerant control for robot via an observer","authors":"A. Al-Bayati, Hong Wang","doi":"10.1109/WCICA.2011.5970570","DOIUrl":"https://doi.org/10.1109/WCICA.2011.5970570","url":null,"abstract":"To study the properties of the nonlinear robot model and introduce a new adaptive fault tolerant strategy, this paper has been introduced. The adaptive fault tolerant control scheme is designed via two (PID) Proportional -Integral - derivative controllers and a nonlinear observer. The nonlinear model of two inverted robot joints arms on a cart and has been studied and simulated with presence of an additive fault and a disturbance (white noise) in the system. The nonlinear adaptive observer is designed to eliminate the effect of the Coriolis and centrifugal torque and detect the fault and noise. The two PID controllers compensate the errors to increase the integrity of the strategy. The proposed strategy reconfigures the control law to overcome the errors and faults. An illustrated example is simulated and the encouraged results have been obtained.","PeriodicalId":211049,"journal":{"name":"2011 9th World Congress on Intelligent Control and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2011-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130677288","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 : 2011-06-21DOI: 10.1109/WCICA.2011.5970700
Chengju Liu, Qijun Chen, Tao Xu
This paper presents a biological inspired control strategy for a quadruped robot. A Central pattern generator (CPG) network and a knee-to-hip mapping function are presented to realize the rhythmic motion for the quadruped robot. Based on genetic algorithm (GA), basic animal-like gait patterns can be realized. Moreover, the animal's vestibular reflex mechanism is mimicked to realize the adaptive walking of the quadruped robot on slope terrain. Entrainment with the sensory feedback from robot-environment interaction, the robot can walk up and down a slope smoothly. The presented CPG-based control method is validated through simulations and experiments with AIBO. Under the control of the presented CPG network, AIBO can realize animal-like walking pattern. Couples with the body attitude feedback signals, it also can cope with slipping, falling down and walk on a slope successfully, which demonstrate the effectiveness of the proposed biological inspired control method.
{"title":"Locomotion control of quadruped robots based on central pattern generators","authors":"Chengju Liu, Qijun Chen, Tao Xu","doi":"10.1109/WCICA.2011.5970700","DOIUrl":"https://doi.org/10.1109/WCICA.2011.5970700","url":null,"abstract":"This paper presents a biological inspired control strategy for a quadruped robot. A Central pattern generator (CPG) network and a knee-to-hip mapping function are presented to realize the rhythmic motion for the quadruped robot. Based on genetic algorithm (GA), basic animal-like gait patterns can be realized. Moreover, the animal's vestibular reflex mechanism is mimicked to realize the adaptive walking of the quadruped robot on slope terrain. Entrainment with the sensory feedback from robot-environment interaction, the robot can walk up and down a slope smoothly. The presented CPG-based control method is validated through simulations and experiments with AIBO. Under the control of the presented CPG network, AIBO can realize animal-like walking pattern. Couples with the body attitude feedback signals, it also can cope with slipping, falling down and walk on a slope successfully, which demonstrate the effectiveness of the proposed biological inspired control method.","PeriodicalId":211049,"journal":{"name":"2011 9th World Congress on Intelligent Control and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2011-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130712389","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 : 2011-06-21DOI: 10.1109/WCICA.2011.5970738
Chuanqing Li
A novel on-line learning adaptive control scheme based on linear neuron is presented to facilitate controller design of unknown nonlinear dynamic system. Dynamic linearization method being used for control oriented model known as the linear neuron, and inputs of linear neuron are the difference operator of nonlinear system input, weighting factor of linear neuron on-line learning to dynamic approximate nonlinear system. Adaptive control law and the weighting factor on-line learning algorithm in-turn circulating to control nonlinear system, furthermore, stability analysis of closed loop system and given the relationship between static error and bounded disturbance. At last, the effectiveness of the proposed scheme is illustrated by simulation of a nonlinear dynamic systems at Matlab-Simulink platform.
{"title":"On-line learning adaptive control based on linear neuron","authors":"Chuanqing Li","doi":"10.1109/WCICA.2011.5970738","DOIUrl":"https://doi.org/10.1109/WCICA.2011.5970738","url":null,"abstract":"A novel on-line learning adaptive control scheme based on linear neuron is presented to facilitate controller design of unknown nonlinear dynamic system. Dynamic linearization method being used for control oriented model known as the linear neuron, and inputs of linear neuron are the difference operator of nonlinear system input, weighting factor of linear neuron on-line learning to dynamic approximate nonlinear system. Adaptive control law and the weighting factor on-line learning algorithm in-turn circulating to control nonlinear system, furthermore, stability analysis of closed loop system and given the relationship between static error and bounded disturbance. At last, the effectiveness of the proposed scheme is illustrated by simulation of a nonlinear dynamic systems at Matlab-Simulink platform.","PeriodicalId":211049,"journal":{"name":"2011 9th World Congress on Intelligent Control and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2011-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134483761","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
In this paper, a fuzzy planner is designed, which is combined with motion controllers to control three-wheel mobile robot with infrared sensors to avoid obstacles in unknown environment. The fuzzy planner processes data from infrared sensors to get the navigation angle in which the robot should be necessarily driven to avoid obstacles. The navigation angle acts as the input value of the speed arithmetic unit, which will generate the given speed values for the motion controls of the left and right driving wheels according to the kinematics model. In the end, motion controllers and drivers control the DC servo motors to accomplish the task of avoiding obstacles for mobile robot. Experiments show that mobile robot with this fuzzy planner can reliably avoid obstacles.
{"title":"Study of obstacle avoidance based on fuzzy planner for wheeled mobile robot","authors":"Suolin Duan, Yunfeng Li, Shuyue Chen, Lanping Chen, Ling Zou, Zhenghua Ma, Ji Ding","doi":"10.1109/WCICA.2011.5970598","DOIUrl":"https://doi.org/10.1109/WCICA.2011.5970598","url":null,"abstract":"In this paper, a fuzzy planner is designed, which is combined with motion controllers to control three-wheel mobile robot with infrared sensors to avoid obstacles in unknown environment. The fuzzy planner processes data from infrared sensors to get the navigation angle in which the robot should be necessarily driven to avoid obstacles. The navigation angle acts as the input value of the speed arithmetic unit, which will generate the given speed values for the motion controls of the left and right driving wheels according to the kinematics model. In the end, motion controllers and drivers control the DC servo motors to accomplish the task of avoiding obstacles for mobile robot. Experiments show that mobile robot with this fuzzy planner can reliably avoid obstacles.","PeriodicalId":211049,"journal":{"name":"2011 9th World Congress on Intelligent Control and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2011-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133579680","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 : 2011-06-21DOI: 10.1109/WCICA.2011.5970618
Yanrong Ge, Yangzhou Chen, G. Dai
This paper presents a motion planning algorithm for automatic parallel parking under given parking environment and arbitrary initial posture, which divides the parking process into two stages, that is, from any initial posture to the target posture through the intermediate posture determined by duplex motion planning strategy. Moreover we employ the shortest path method of motion planning for each stage in the whole parking process. Simulation results show that the algorithm complete the automatic parallel parking under given parking environment and arbitrary initial posture effectively.
{"title":"A motion planning algorithm for automatic parallel parking from arbitrary initial posture","authors":"Yanrong Ge, Yangzhou Chen, G. Dai","doi":"10.1109/WCICA.2011.5970618","DOIUrl":"https://doi.org/10.1109/WCICA.2011.5970618","url":null,"abstract":"This paper presents a motion planning algorithm for automatic parallel parking under given parking environment and arbitrary initial posture, which divides the parking process into two stages, that is, from any initial posture to the target posture through the intermediate posture determined by duplex motion planning strategy. Moreover we employ the shortest path method of motion planning for each stage in the whole parking process. Simulation results show that the algorithm complete the automatic parallel parking under given parking environment and arbitrary initial posture effectively.","PeriodicalId":211049,"journal":{"name":"2011 9th World Congress on Intelligent Control and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2011-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114947134","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 : 2011-06-21DOI: 10.1109/WCICA.2011.5970622
Hong-da Fan
This paper proposes a range sensors information based genetic algorithm(GA) for on line path planning of a circle mobile robot in 2-D unknown environment filled with convex obstacles. The GA uses the current range sensors data and the current robot's position relevent to the goal to decide the robot's next turning angle and moving distance in the world coordination. Some strategies are used for the implementation of on line path planning. One hand the population size equals to the sum of the number of the range sensors and the goal's number and the initial population values are decided by the informations of the sensors and goal too. On the other hand a virtual local environment based on current range sensors data is build in order to further shorten the searching solution time. The previous solution is put into the evolution population pool in genetic operation. The simulation results show the effectivess and feasibility of this method.
{"title":"On line path planning for a circle mobile robot based on genetic algorithm","authors":"Hong-da Fan","doi":"10.1109/WCICA.2011.5970622","DOIUrl":"https://doi.org/10.1109/WCICA.2011.5970622","url":null,"abstract":"This paper proposes a range sensors information based genetic algorithm(GA) for on line path planning of a circle mobile robot in 2-D unknown environment filled with convex obstacles. The GA uses the current range sensors data and the current robot's position relevent to the goal to decide the robot's next turning angle and moving distance in the world coordination. Some strategies are used for the implementation of on line path planning. One hand the population size equals to the sum of the number of the range sensors and the goal's number and the initial population values are decided by the informations of the sensors and goal too. On the other hand a virtual local environment based on current range sensors data is build in order to further shorten the searching solution time. The previous solution is put into the evolution population pool in genetic operation. The simulation results show the effectivess and feasibility of this method.","PeriodicalId":211049,"journal":{"name":"2011 9th World Congress on Intelligent Control and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2011-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114641923","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 : 2011-06-21DOI: 10.1109/WCICA.2011.5970727
X. Su, Qing-tao Lv, Meilin Xiao, Jun-bo Yang
By means of linear matrix inequality (LMI), a robust stability analysis method is presented to discuss the robust stability for uncertain T-S fuzzy singular systems. Based on the Lyapunov stability theory, a sufficient condition which makes the uncertain T-S fuzzy singular systems robust stability is obtained. Moreover, an ellipse constraint is given to change the input/output constraints into a group of LMI bindings by using elliptic invariant domain and S-Procesure methods. Finally, a sufficient condition for uncertain T-S fuzzy singular systems robust stable and satisfying the input/output constraints has been derived.
{"title":"Stability analysis for uncertain T-S fuzzy singular systems based on input/output constraints","authors":"X. Su, Qing-tao Lv, Meilin Xiao, Jun-bo Yang","doi":"10.1109/WCICA.2011.5970727","DOIUrl":"https://doi.org/10.1109/WCICA.2011.5970727","url":null,"abstract":"By means of linear matrix inequality (LMI), a robust stability analysis method is presented to discuss the robust stability for uncertain T-S fuzzy singular systems. Based on the Lyapunov stability theory, a sufficient condition which makes the uncertain T-S fuzzy singular systems robust stability is obtained. Moreover, an ellipse constraint is given to change the input/output constraints into a group of LMI bindings by using elliptic invariant domain and S-Procesure methods. Finally, a sufficient condition for uncertain T-S fuzzy singular systems robust stable and satisfying the input/output constraints has been derived.","PeriodicalId":211049,"journal":{"name":"2011 9th World Congress on Intelligent Control and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2011-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128221985","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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