Pub Date : 2011-06-21DOI: 10.1109/WCICA.2011.5970610
Yongnan Jia, G. Xie, Long Wang
Like the terrestrial robots playing football, fishlike robots can play polo game in the water. The accurate trajectory control of autonomous robot fish based on local vision information plays an important role in the game. However, path planning approaches for fishlike robots were lacking in the literature. Here, we develop a tangent circle method, which is based on its inherent kinematic constraints, to plan an executable path for the robot fish. Two kinds of tangent circles are defined to represent the motion tendencies of robot fish, and are drawn accurately by control parameters. By means of the combination of tangent circles and their external or internal common tangent, the robot fish can accomplish a path from an initial pose to a final pose, at which the fish can forward push the ball to the goal. Furthermore, experimental results validate the effectiveness of this method.
{"title":"Path planning for robot fish in water-polo game: Tangent circle method","authors":"Yongnan Jia, G. Xie, Long Wang","doi":"10.1109/WCICA.2011.5970610","DOIUrl":"https://doi.org/10.1109/WCICA.2011.5970610","url":null,"abstract":"Like the terrestrial robots playing football, fishlike robots can play polo game in the water. The accurate trajectory control of autonomous robot fish based on local vision information plays an important role in the game. However, path planning approaches for fishlike robots were lacking in the literature. Here, we develop a tangent circle method, which is based on its inherent kinematic constraints, to plan an executable path for the robot fish. Two kinds of tangent circles are defined to represent the motion tendencies of robot fish, and are drawn accurately by control parameters. By means of the combination of tangent circles and their external or internal common tangent, the robot fish can accomplish a path from an initial pose to a final pose, at which the fish can forward push the ball to the goal. Furthermore, experimental results validate the effectiveness 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":"117291889","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.2011.5970734
Xisong Dong, Gang-Yu Xiong, Feiyue Wang, T. Nyberg, P. Hamalainen
With the increasing complexity of modern power system, the conventional analytical methods and simulation systems, which are based on reductionism, can't provide sufficient guidance for its operation and management anymore. ACP theory which is based on holism and complex system theory, mainly consists of artificial systems (A), computing experiments (C) and parallel execution (P), has its specific advantages in the research on power grid. In this article, ACP method is introduced to build up artificial power system by using multi-agent complex network models. With the help of the artificial power system, actual power system's control, scheduling, optimization and management can be improved further by providing theoretical guidance and technical support for the rolling optimizations in normal situations, and emergency management in abnormal situations. As an application case study, the artificial power system constructed with actual data from north China power grid is applied for computing experiment's analysis under different attacks. The same way, the artificial power system can also provide theoretical guidance and practical support for smart grid research.
{"title":"Research on the construction of artificial power systems","authors":"Xisong Dong, Gang-Yu Xiong, Feiyue Wang, T. Nyberg, P. Hamalainen","doi":"10.1109/WCICA.2011.5970734","DOIUrl":"https://doi.org/10.1109/WCICA.2011.5970734","url":null,"abstract":"With the increasing complexity of modern power system, the conventional analytical methods and simulation systems, which are based on reductionism, can't provide sufficient guidance for its operation and management anymore. ACP theory which is based on holism and complex system theory, mainly consists of artificial systems (A), computing experiments (C) and parallel execution (P), has its specific advantages in the research on power grid. In this article, ACP method is introduced to build up artificial power system by using multi-agent complex network models. With the help of the artificial power system, actual power system's control, scheduling, optimization and management can be improved further by providing theoretical guidance and technical support for the rolling optimizations in normal situations, and emergency management in abnormal situations. As an application case study, the artificial power system constructed with actual data from north China power grid is applied for computing experiment's analysis under different attacks. The same way, the artificial power system can also provide theoretical guidance and practical support for smart grid research.","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":"124650937","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.2011.5970631
Han Xiao, Kui Yuan, Wenhao He
In order to achieve real-time detection of SIFT keypoints through hardware computation on FPGA, the original algorithm was redesigned to accommodate the parallel computation and pipelined structure of hardware. The computation accuracy of fixed-point number is improved by the new scheme, while the computation amount of the whole algorithm is greatly reduced and hardware cost is saved. In the aspect of performance, the new scheme is as robust to image noise as the original algorithm, while the scale invariance of keypoints has been improved dramatically.
{"title":"An improvement on the keypoint detection method of SIFT for hardware computation","authors":"Han Xiao, Kui Yuan, Wenhao He","doi":"10.1109/WCICA.2011.5970631","DOIUrl":"https://doi.org/10.1109/WCICA.2011.5970631","url":null,"abstract":"In order to achieve real-time detection of SIFT keypoints through hardware computation on FPGA, the original algorithm was redesigned to accommodate the parallel computation and pipelined structure of hardware. The computation accuracy of fixed-point number is improved by the new scheme, while the computation amount of the whole algorithm is greatly reduced and hardware cost is saved. In the aspect of performance, the new scheme is as robust to image noise as the original algorithm, while the scale invariance of keypoints has been improved dramatically.","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":"114120055","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, we introduce a data gathering algorithm for mobile sink in WSN system, which is based on the swarm intelligence and load balancing strategy, called SIDG-MS algorithm. The preying behaviour from swarm intelligence shows that individual could find food in swarm territorial. Each node in WSN system has limited calculation ability, memory space, energy and wireless transmission range. This action is similar with the individual of swarm intelligence. This paper focuses on the concept and elaboration of the SIDG-MS and the load balancing strategy. Experimental results validate the effectiveness of this approach. We analysis and demonstrate the effectiveness of the proposed methods over other existed methods, and defined some future work.
{"title":"A data gathering algorithm based on swarm intelligence and load balancing strategy for mobile sink","authors":"Yongquan Chen, Yunjian Tang, Guoqing Xu, Huihuan Qian, Yangsheng Xu","doi":"10.1109/WCICA.2011.5970666","DOIUrl":"https://doi.org/10.1109/WCICA.2011.5970666","url":null,"abstract":"In this paper, we introduce a data gathering algorithm for mobile sink in WSN system, which is based on the swarm intelligence and load balancing strategy, called SIDG-MS algorithm. The preying behaviour from swarm intelligence shows that individual could find food in swarm territorial. Each node in WSN system has limited calculation ability, memory space, energy and wireless transmission range. This action is similar with the individual of swarm intelligence. This paper focuses on the concept and elaboration of the SIDG-MS and the load balancing strategy. Experimental results validate the effectiveness of this approach. We analysis and demonstrate the effectiveness of the proposed methods over other existed methods, and defined some future work.","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":"114356677","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.2011.5970580
Chaoliang Zhong, Shirong Liu, Xuena Qiu
Environmental map cognition includes two issues on the map knowledge extraction and comprehension. For the environmental comprehension of intelligent robot, an extraction method of the feasible motion area for mobile robot is proposed based on a self-growing network. Using the growth characteristics of Growing Neural Gas (GNG) algorithm, this method can abstracts the holistic knowledge of the surrounding environment by adding new node of topology network and builds an environmental map in which robot can easily understand, autonomously plan and make a strategic decision. The simulations and physical experiments verify the feasibility and effectiveness of the proposed method.
{"title":"Self-growing network based extraction of feasible motion region's knowledge","authors":"Chaoliang Zhong, Shirong Liu, Xuena Qiu","doi":"10.1109/WCICA.2011.5970580","DOIUrl":"https://doi.org/10.1109/WCICA.2011.5970580","url":null,"abstract":"Environmental map cognition includes two issues on the map knowledge extraction and comprehension. For the environmental comprehension of intelligent robot, an extraction method of the feasible motion area for mobile robot is proposed based on a self-growing network. Using the growth characteristics of Growing Neural Gas (GNG) algorithm, this method can abstracts the holistic knowledge of the surrounding environment by adding new node of topology network and builds an environmental map in which robot can easily understand, autonomously plan and make a strategic decision. The simulations and physical experiments verify the feasibility and effectiveness of the proposed 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":"126400605","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.2011.5970634
Fangzheng Xue, Zhicheng Hou, Yang Hu, Chengjun Liu
A swing-up controller based on human simulated intelligence control theory is designed for three-link acrobot. According to the analysis of athletes' motion, swing-up process is divided by six sequence phases. We describe the six sequence phase by sensory-motor intelligence schema and design Bang-Bang and PD controller for every phase. With the controller, the acrobot can swing up quickly and smoothly. Simulation results show the effectiveness and feasibility of the proposed method.
{"title":"Human simulated intelligence motion control for a three-link acrobot","authors":"Fangzheng Xue, Zhicheng Hou, Yang Hu, Chengjun Liu","doi":"10.1109/WCICA.2011.5970634","DOIUrl":"https://doi.org/10.1109/WCICA.2011.5970634","url":null,"abstract":"A swing-up controller based on human simulated intelligence control theory is designed for three-link acrobot. According to the analysis of athletes' motion, swing-up process is divided by six sequence phases. We describe the six sequence phase by sensory-motor intelligence schema and design Bang-Bang and PD controller for every phase. With the controller, the acrobot can swing up quickly and smoothly. Simulation results show the effectiveness and feasibility of the proposed 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":"122008361","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.2011.5970724
L. Jia, Luming Cao, M. Chiu
In this paper, a novel data driven-adaptive single neuron predictive controller is proposed. The self-tuning algorithm for the single neuron predictive controller is derived by a rigorous analysis based on the Lyapunov method such that the predicted tracking error convergences asymptotically. Simulation results are presented to illustrate the proposed adaptive predictive controller and a comparison with its conventional counterparts is made.
{"title":"Data driven- Adaptive single neuron predictive controller based on Lyapunov approach","authors":"L. Jia, Luming Cao, M. Chiu","doi":"10.1109/WCICA.2011.5970724","DOIUrl":"https://doi.org/10.1109/WCICA.2011.5970724","url":null,"abstract":"In this paper, a novel data driven-adaptive single neuron predictive controller is proposed. The self-tuning algorithm for the single neuron predictive controller is derived by a rigorous analysis based on the Lyapunov method such that the predicted tracking error convergences asymptotically. Simulation results are presented to illustrate the proposed adaptive predictive controller and a comparison with its conventional counterparts is made.","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":"115849192","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.2011.5970583
Chi-Ying Lin, Xinxin Lin
This article presents a hybrid intelligent control and repetitive control design strategy for high performance motion control of linear piezoelectric ceramic motors. To compensate for the friction and hysteresis phenomenon in the piezoelectric motors, a radial basis function based neural network controller with PID controller is first applied as performance baseline for tracking periodic motion profiles. To further improve the periodic tracking performance, a discrete time repetitive controller coming from solving a particular solution of Bezout identity is then added to the feedback control system. The resultant hybrid controller consisting of neural controller, PID controller, and repetitive controller, is useful for tracking and disturbance rejection in motion control systems. The effectiveness of the proposed control strategy was verified through comparison of several tracking experiments on a linear piezoelectric ceramic motor.
{"title":"High performance motion controller design for linear piezoelectric ceramic motors","authors":"Chi-Ying Lin, Xinxin Lin","doi":"10.1109/WCICA.2011.5970583","DOIUrl":"https://doi.org/10.1109/WCICA.2011.5970583","url":null,"abstract":"This article presents a hybrid intelligent control and repetitive control design strategy for high performance motion control of linear piezoelectric ceramic motors. To compensate for the friction and hysteresis phenomenon in the piezoelectric motors, a radial basis function based neural network controller with PID controller is first applied as performance baseline for tracking periodic motion profiles. To further improve the periodic tracking performance, a discrete time repetitive controller coming from solving a particular solution of Bezout identity is then added to the feedback control system. The resultant hybrid controller consisting of neural controller, PID controller, and repetitive controller, is useful for tracking and disturbance rejection in motion control systems. The effectiveness of the proposed control strategy was verified through comparison of several tracking experiments on a linear piezoelectric ceramic motor.","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":"134004681","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.2011.5970535
Feng Ding, Lijuan Zhang, Zhengjia He
Aiming at operational reliability analysis and assessment based on condition monitoring information in this paper, a methodology of reliability modeling and assessment based on cutting tool vibration signal feature extraction using proportional hazards model is proposed. Root Mean Square and Peak of time domain index from vibration signals, which are closely related to tool wear degradation states, are selected as covariates introduced to proportional hazards model for the tool wear reliability analysis. The proposed approach shows a considerable advantage of establishing significant association relationship between the tool condition monitoring information and the life distribution of tool wear. It is appropriate to provide individual cutting tool operational reliability assessment effectively. The experimental study on the CNC lathe turning process is given to validate the effectiveness of the proposed method. The results have shown that the approach are promising and give good estimation ability of reliability for tool wear degradation states.
{"title":"On-line monitoring for cutting tool wear reliability analysis","authors":"Feng Ding, Lijuan Zhang, Zhengjia He","doi":"10.1109/WCICA.2011.5970535","DOIUrl":"https://doi.org/10.1109/WCICA.2011.5970535","url":null,"abstract":"Aiming at operational reliability analysis and assessment based on condition monitoring information in this paper, a methodology of reliability modeling and assessment based on cutting tool vibration signal feature extraction using proportional hazards model is proposed. Root Mean Square and Peak of time domain index from vibration signals, which are closely related to tool wear degradation states, are selected as covariates introduced to proportional hazards model for the tool wear reliability analysis. The proposed approach shows a considerable advantage of establishing significant association relationship between the tool condition monitoring information and the life distribution of tool wear. It is appropriate to provide individual cutting tool operational reliability assessment effectively. The experimental study on the CNC lathe turning process is given to validate the effectiveness of the proposed method. The results have shown that the approach are promising and give good estimation ability of reliability for tool wear degradation states.","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":"131026942","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.2011.5970692
P. Yen, Y. Chu, Wei-Sheng Huang, Jing-Heng Wang, S. Hung
Robot assisted surgery can be safer than conventional counterpart. In total knee replacement, an intelligent tool with cooperative force control equipped by the proposed bone cutting through detection is advantageous to prevent from damaging surrounding soft tissue than by conventional method or computer navigation method. In this paper the developed auto-detection bone cutting through is able to achieve accurate bone cutting with only the information of cutter's motion and forces, no medical images are required. This approach can be a low cost solution to accomplish safe and accurate bone cutting to complement an imageless navigation system and results in a very effective robot-assisted surgical system.
{"title":"Bone cutting-through detection under imageless navigation","authors":"P. Yen, Y. Chu, Wei-Sheng Huang, Jing-Heng Wang, S. Hung","doi":"10.1109/WCICA.2011.5970692","DOIUrl":"https://doi.org/10.1109/WCICA.2011.5970692","url":null,"abstract":"Robot assisted surgery can be safer than conventional counterpart. In total knee replacement, an intelligent tool with cooperative force control equipped by the proposed bone cutting through detection is advantageous to prevent from damaging surrounding soft tissue than by conventional method or computer navigation method. In this paper the developed auto-detection bone cutting through is able to achieve accurate bone cutting with only the information of cutter's motion and forces, no medical images are required. This approach can be a low cost solution to accomplish safe and accurate bone cutting to complement an imageless navigation system and results in a very effective robot-assisted surgical system.","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":"131217863","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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