Pub Date : 2011-06-21DOI: 10.1109/WCICA.2011.5970704
Fang Yang, Chaoli Wang, Baolei Wang
The trajectory tracking control problem of nonholonomic mobile robots with uncertain dynamics and uncertain visual parameters is addressed in this paper. A novel visual feedback control model is proposed. Its tracking controller is independent of uncalibrated visual parameters by using new methods. This controller consists of two units, one is an adaptive control for compensation of the uncertainties of dynamic parameters, the other is a variable structure control for the interference suppression. In addition, the torque tracking controller is global and smooth, and the chattering phenomenon is eliminated. The stability of the proposed control system is rigorously proved through the Lyapunov method. Simulation results are provided to illustrate the performance of the control law.
{"title":"Tracking control for uncertain dynamic nonholonomic mobile robots with unknown visual parameters","authors":"Fang Yang, Chaoli Wang, Baolei Wang","doi":"10.1109/WCICA.2011.5970704","DOIUrl":"https://doi.org/10.1109/WCICA.2011.5970704","url":null,"abstract":"The trajectory tracking control problem of nonholonomic mobile robots with uncertain dynamics and uncertain visual parameters is addressed in this paper. A novel visual feedback control model is proposed. Its tracking controller is independent of uncalibrated visual parameters by using new methods. This controller consists of two units, one is an adaptive control for compensation of the uncertainties of dynamic parameters, the other is a variable structure control for the interference suppression. In addition, the torque tracking controller is global and smooth, and the chattering phenomenon is eliminated. The stability of the proposed control system is rigorously proved through the Lyapunov method. Simulation results are provided to illustrate the performance of the control law.","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":"128927205","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.2011.5970547
Chih-Keng Chen, Tri-Vien Vu
One of the most advantages of hybrid vehicles is that the wasted braking energy can be captured and reused during driving cycle. In this paper, a regenerative braking system for hydraulic hybrid vehicles is investigated. Based on Matlab/Simulink, the model of proposed system is established. The influences of components parameters to the performance of braking system, the rate of recovery energy and the efficiencies of the system are analysed and calculated from data that obtained via simulation. The simulation results indicate that even thought the percent of stored energy and the rate of energy recovery of the system are varied and depended on many factors, the total efficiency is reasonable and high potential to implement in the real vehicle. The architecture of the proposed system is the prototype of experimental system in our future research.
{"title":"Regenerative braking study for a hydraulic hybrid vehicle","authors":"Chih-Keng Chen, Tri-Vien Vu","doi":"10.1109/WCICA.2011.5970547","DOIUrl":"https://doi.org/10.1109/WCICA.2011.5970547","url":null,"abstract":"One of the most advantages of hybrid vehicles is that the wasted braking energy can be captured and reused during driving cycle. In this paper, a regenerative braking system for hydraulic hybrid vehicles is investigated. Based on Matlab/Simulink, the model of proposed system is established. The influences of components parameters to the performance of braking system, the rate of recovery energy and the efficiencies of the system are analysed and calculated from data that obtained via simulation. The simulation results indicate that even thought the percent of stored energy and the rate of energy recovery of the system are varied and depended on many factors, the total efficiency is reasonable and high potential to implement in the real vehicle. The architecture of the proposed system is the prototype of experimental system in our future 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":"123745625","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.2011.5970729
Zhengdong Xu, Aixue Ye, Y. Ren, Wenhao He, Kui Yuan
In order to dock an embedded intelligent wheelchair into a U-shape bed automatically through visual servo, this paper proposes a real-time U-shape bed localization method on an embedded vision system based on FPGA and DSP. This method locates the U-shape bed through finding its line contours. The task can be done in a parallel way with FPGA does line extraction and DSP does line contour finding. Experiments show that, the speed and precision of the U-shape bed localization method proposed in this paper which based on an embedded vision system can satisfy the needs of the system.
{"title":"A U-shape bed localization method on embedded vision system","authors":"Zhengdong Xu, Aixue Ye, Y. Ren, Wenhao He, Kui Yuan","doi":"10.1109/WCICA.2011.5970729","DOIUrl":"https://doi.org/10.1109/WCICA.2011.5970729","url":null,"abstract":"In order to dock an embedded intelligent wheelchair into a U-shape bed automatically through visual servo, this paper proposes a real-time U-shape bed localization method on an embedded vision system based on FPGA and DSP. This method locates the U-shape bed through finding its line contours. The task can be done in a parallel way with FPGA does line extraction and DSP does line contour finding. Experiments show that, the speed and precision of the U-shape bed localization method proposed in this paper which based on an embedded vision system can satisfy the needs of the 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":"122503999","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.2011.5970751
P. Cheng, Chin-Hsing Cheng, Yao-An Lee
The aim of this paper is to develop a study of Taguchi optimization method for a switching mode DC power supply with power factor corrector (PFC). Power factor and efficiency are the basic indicators for both of power quality and power saving. To attain these two factors in switching mode power supply design is the goal for power engineers. The most effects are the setting of initial parameters. Orthogonal arrays of Taguchi and the signal-to-noise (S/N) ratio are employed to find the optimal levels and to analyze the effect of the parameters for DC-DC converter with PFC. Confirmation tests with optimal levels are carried out in order to illustrate the effectiveness of Taguchi optimization method.
{"title":"Design of a DC power supply with power factor corrector by Taguchi method","authors":"P. Cheng, Chin-Hsing Cheng, Yao-An Lee","doi":"10.1109/WCICA.2011.5970751","DOIUrl":"https://doi.org/10.1109/WCICA.2011.5970751","url":null,"abstract":"The aim of this paper is to develop a study of Taguchi optimization method for a switching mode DC power supply with power factor corrector (PFC). Power factor and efficiency are the basic indicators for both of power quality and power saving. To attain these two factors in switching mode power supply design is the goal for power engineers. The most effects are the setting of initial parameters. Orthogonal arrays of Taguchi and the signal-to-noise (S/N) ratio are employed to find the optimal levels and to analyze the effect of the parameters for DC-DC converter with PFC. Confirmation tests with optimal levels are carried out in order to illustrate the effectiveness of Taguchi optimization 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":"126939889","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.2011.5970543
Xianmei Wang, Ping Yang, Xiujie Zhao, Liying Jia
This paper presents a new approach for pupil localization. The whole system can be divided into two stages: eyes detection and pupil localization. In the first stage, ASM method is used to locate the facial feature points, in which Adaboost algorithm is used to detect human face and provide the original searching position. In the second stage, gray distribution of the eyes is analyzed. The local area with lowest gray intensity is assumed the candidate of pupil. Finally, similar local area analysis technique is employed to adjust the position of the candidate pupil area. Experimental results validate the effects of our approach.
{"title":"Pupil localization by ASM and regional gray distribution","authors":"Xianmei Wang, Ping Yang, Xiujie Zhao, Liying Jia","doi":"10.1109/WCICA.2011.5970543","DOIUrl":"https://doi.org/10.1109/WCICA.2011.5970543","url":null,"abstract":"This paper presents a new approach for pupil localization. The whole system can be divided into two stages: eyes detection and pupil localization. In the first stage, ASM method is used to locate the facial feature points, in which Adaboost algorithm is used to detect human face and provide the original searching position. In the second stage, gray distribution of the eyes is analyzed. The local area with lowest gray intensity is assumed the candidate of pupil. Finally, similar local area analysis technique is employed to adjust the position of the candidate pupil area. Experimental results validate the effects of our approach.","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":"126854096","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.2011.5970743
Jinglin Zhou, Zheng-yu Song, Zhong Zhao
A double closed loop stochastic distribution modelling and control structure based on iterative learning (IL) is presented for non-Gaussian dynamical stochastic systems in this paper. Each of the outer loop and the inner loop iteration are called as BATCH and batch, respectively. The output probability density functions (PDFs) of the system are approximated by radial basis function neural network (RBFNN). Iterative learning method is applied to adjust the parameters (i.e. the centers and widths of RBFs ) of the RBFNN, and then a standard state-space model is constructed within each BATCH by the use of subspace method. Application the state-space model, an IL-based controller, which tunes the control input signals in terms of the shaping tracking error from last batch, is given in the inner loop of the system. A simulation case study is included to show the effectiveness of the proposed algorithm and encouraging results have been obtained.
{"title":"IL-based double close loop modelling and control for SDC systems","authors":"Jinglin Zhou, Zheng-yu Song, Zhong Zhao","doi":"10.1109/WCICA.2011.5970743","DOIUrl":"https://doi.org/10.1109/WCICA.2011.5970743","url":null,"abstract":"A double closed loop stochastic distribution modelling and control structure based on iterative learning (IL) is presented for non-Gaussian dynamical stochastic systems in this paper. Each of the outer loop and the inner loop iteration are called as BATCH and batch, respectively. The output probability density functions (PDFs) of the system are approximated by radial basis function neural network (RBFNN). Iterative learning method is applied to adjust the parameters (i.e. the centers and widths of RBFs ) of the RBFNN, and then a standard state-space model is constructed within each BATCH by the use of subspace method. Application the state-space model, an IL-based controller, which tunes the control input signals in terms of the shaping tracking error from last batch, is given in the inner loop of the system. A simulation case study is included to show the effectiveness of the proposed algorithm and encouraging 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":"127804114","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.2011.5970754
Liulin Cao, Jing Wang, P. Jiang, Q. Jin
A multiobjective intelligence optimal approach in polymerizing of PET with maximum yield and the best quality is proposed. The hybrid neural network based on B-spline and diagonal recursive neural network is used to model the PET process qualities, i.e. the Intrinsic Viscosity and Molecular Weight distribution. Then a hybrid NSGAII-PSO optimal algorithm with penalty functions is applied to solve the multiobjective optimal problem in order to get the best operation conditions. The simulation result indicates that the hybrid network model and model-based multiobjective optimal algorithm are effective.
{"title":"Multiobjective intelligence optimal operation of PET polymerization","authors":"Liulin Cao, Jing Wang, P. Jiang, Q. Jin","doi":"10.1109/WCICA.2011.5970754","DOIUrl":"https://doi.org/10.1109/WCICA.2011.5970754","url":null,"abstract":"A multiobjective intelligence optimal approach in polymerizing of PET with maximum yield and the best quality is proposed. The hybrid neural network based on B-spline and diagonal recursive neural network is used to model the PET process qualities, i.e. the Intrinsic Viscosity and Molecular Weight distribution. Then a hybrid NSGAII-PSO optimal algorithm with penalty functions is applied to solve the multiobjective optimal problem in order to get the best operation conditions. The simulation result indicates that the hybrid network model and model-based multiobjective optimal algorithm are effective.","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":"127428467","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.2011.5970689
Jiangzhao Yang, Zexiang Li, Hong Wang, Y. Lou, Zhili Long
In the tasks of contour following, two important issues are required to be concerned. They are the real-time contour error estimation and compensation. Recent research shows that the accuracy of real-time contour error estimation can be improved by the approach of circular approximation. However, in such an approach, the estimated contour error is calculated from the artificial moving coordinate frame and has to be transformed back to the fixed coordinate frame for compensation. In this paper, an approach to estimate and compensate the real-time contour error based on the global fixed coordinate frame is proposed. In this method, the real-time contour error can be obtained from the tracking error decomposition to the global fixed coordinate frame via a projection map. Based on this estimation, direct contour error compensation will be performed with respect to the global fixed coordinate frame through modifying the reference position inputs. Experiments show that the estimation accuracy of the direct tracking error decomposition is the same as that of the circular estimation and the tracking performance of the contouring system is evidently improved after the compensation.
{"title":"Direct contour error compensation for biaxial contouring control systems based on a global fixed coordinate frame","authors":"Jiangzhao Yang, Zexiang Li, Hong Wang, Y. Lou, Zhili Long","doi":"10.1109/WCICA.2011.5970689","DOIUrl":"https://doi.org/10.1109/WCICA.2011.5970689","url":null,"abstract":"In the tasks of contour following, two important issues are required to be concerned. They are the real-time contour error estimation and compensation. Recent research shows that the accuracy of real-time contour error estimation can be improved by the approach of circular approximation. However, in such an approach, the estimated contour error is calculated from the artificial moving coordinate frame and has to be transformed back to the fixed coordinate frame for compensation. In this paper, an approach to estimate and compensate the real-time contour error based on the global fixed coordinate frame is proposed. In this method, the real-time contour error can be obtained from the tracking error decomposition to the global fixed coordinate frame via a projection map. Based on this estimation, direct contour error compensation will be performed with respect to the global fixed coordinate frame through modifying the reference position inputs. Experiments show that the estimation accuracy of the direct tracking error decomposition is the same as that of the circular estimation and the tracking performance of the contouring system is evidently improved after the compensation.","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":"133896235","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.2011.5970633
Yanhua Wu, Dong Sun, Wenhao Huang
Optical tweezers utilize highly focused laser beam to produce optical forces on the object, and can be used for trapping, orienting and moving micro-/nano-scaled particles, ideally for biological cells. At present time, the majority of tasks with optical tweezers are carried out manually. Increasing demands for both accuracy and efficiency in cell manipulation highlight the need for automation process that integrates robotics and optical tweezer technologies. In this paper, we propose to use a robot-tweezer manipulation system to automatically transport cells. We calibrate the forces applied to the trapped cell by a dynamic viscous-drag-force method to determine the optimal motion parameters, and adopt a modified A-star algorithm for path planning during automated transportation. Experiments are performed on manipulating living cells to demonstrate the effectiveness of the proposed approach.
{"title":"Force and motion analysis for automated cell transportation with optical tweezers","authors":"Yanhua Wu, Dong Sun, Wenhao Huang","doi":"10.1109/WCICA.2011.5970633","DOIUrl":"https://doi.org/10.1109/WCICA.2011.5970633","url":null,"abstract":"Optical tweezers utilize highly focused laser beam to produce optical forces on the object, and can be used for trapping, orienting and moving micro-/nano-scaled particles, ideally for biological cells. At present time, the majority of tasks with optical tweezers are carried out manually. Increasing demands for both accuracy and efficiency in cell manipulation highlight the need for automation process that integrates robotics and optical tweezer technologies. In this paper, we propose to use a robot-tweezer manipulation system to automatically transport cells. We calibrate the forces applied to the trapped cell by a dynamic viscous-drag-force method to determine the optimal motion parameters, and adopt a modified A-star algorithm for path planning during automated transportation. Experiments are performed on manipulating living cells to demonstrate the effectiveness of the proposed approach.","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":"130996182","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.2011.5970645
Xinfeng Du, R. Xiong, Jian Chu
Navigating autonomously in obstacle-cluttered environment is an important problem for biped robots. Path planning using classical methods, such as A* search and Dijkstra's algorithm, has made a good progress. However, these methods are inefficient. In this paper, a new algorithm named Heuristic Bi-directional Discrete Rapidly-explore Random Trees (HBD-RRTs) is presented. According to discrete stance model, two randomized-sampling-based planning trees from start state and target state are constructed respectively, where the path is generated as a set of stances by bi-directional search. Then a series of off-line gaits and an online gait generator are used to transform the path to motion trajectory. The simulation result in the platform of ZJU-Dance humanoid robot demonstrated that HBD-RRTs for biped robots is less-time-consuming and makes real-time planning possible.
{"title":"A real-time randomized navigation method for biped robot","authors":"Xinfeng Du, R. Xiong, Jian Chu","doi":"10.1109/WCICA.2011.5970645","DOIUrl":"https://doi.org/10.1109/WCICA.2011.5970645","url":null,"abstract":"Navigating autonomously in obstacle-cluttered environment is an important problem for biped robots. Path planning using classical methods, such as A* search and Dijkstra's algorithm, has made a good progress. However, these methods are inefficient. In this paper, a new algorithm named Heuristic Bi-directional Discrete Rapidly-explore Random Trees (HBD-RRTs) is presented. According to discrete stance model, two randomized-sampling-based planning trees from start state and target state are constructed respectively, where the path is generated as a set of stances by bi-directional search. Then a series of off-line gaits and an online gait generator are used to transform the path to motion trajectory. The simulation result in the platform of ZJU-Dance humanoid robot demonstrated that HBD-RRTs for biped robots is less-time-consuming and makes real-time planning possible.","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":"128593648","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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