Pub Date : 2006-05-08DOI: 10.1109/ISSCAA.2006.1627641
Xiaogang Guo, Zhenshen Qu, Boqi Xi
Robot localization is the key problem for mobile robot formation. In this paper, a localization method of mobile robot formation is put forward based on global-camera. According to the request of real-time control system, at first we pick-up the identifier of robot, then we estimate the position and orientation of the robot with the identifier. At last, LMS algorithm is used to minimize the estimation error. Experiments show the method is effective for localization of autonomous mobile robots formation, as well as robustness against environment disturbance
{"title":"Research on location method for mobile robots formation based on global-camera","authors":"Xiaogang Guo, Zhenshen Qu, Boqi Xi","doi":"10.1109/ISSCAA.2006.1627641","DOIUrl":"https://doi.org/10.1109/ISSCAA.2006.1627641","url":null,"abstract":"Robot localization is the key problem for mobile robot formation. In this paper, a localization method of mobile robot formation is put forward based on global-camera. According to the request of real-time control system, at first we pick-up the identifier of robot, then we estimate the position and orientation of the robot with the identifier. At last, LMS algorithm is used to minimize the estimation error. Experiments show the method is effective for localization of autonomous mobile robots formation, as well as robustness against environment disturbance","PeriodicalId":275436,"journal":{"name":"2006 1st International Symposium on Systems and Control in Aerospace and Astronautics","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-05-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123817566","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 : 2006-05-08DOI: 10.1109/ISSCAA.2006.1627611
Xin Wang, Zhiqiang Zhao
Image mosaic is a very important step in big frame image measurement, its precision has a great effect on the measurement precision. Twice matching can make the mosaic precision beyond the pixel dimensions. And the pixels' gray rebuilding based on pixel position and pixel area distribution also has a great help to raise the measurement precision
{"title":"High-precision image mosaic method in big frame measurement","authors":"Xin Wang, Zhiqiang Zhao","doi":"10.1109/ISSCAA.2006.1627611","DOIUrl":"https://doi.org/10.1109/ISSCAA.2006.1627611","url":null,"abstract":"Image mosaic is a very important step in big frame image measurement, its precision has a great effect on the measurement precision. Twice matching can make the mosaic precision beyond the pixel dimensions. And the pixels' gray rebuilding based on pixel position and pixel area distribution also has a great help to raise the measurement precision","PeriodicalId":275436,"journal":{"name":"2006 1st International Symposium on Systems and Control in Aerospace and Astronautics","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-05-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125105481","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 : 2006-05-08DOI: 10.1109/ISSCAA.2006.1627693
Baolin Wu, Xibin Cao
Numerous controllers have been proposed based on linear Hill's equations for satellite formation control. To date, most of these controllers assumed that the system model is well defined, and all the states are known. In this paper, robust constrained model predictive controllers are designed which allows explicit incorporating of the description of parametric uncertainty and the actuator magnitude uncertainty based on this linear Hill's equations. The goal is to design, at each time step, a state-feedback control law which minimizes a "worst case" infinite horizon objective function, subject to constraint on the control input. The problem is reduced to a convex optimization involving linear matrix inequalities (LMIs). The proposed robust controllers are evaluated in simulation. The simulation results demonstrate that the proposed controllers are capable of controlling the satellite formation system with parametric uncertainty and the actuator magnitude uncertainty better than LQR
{"title":"Satellite formation keeping using robust constrained model predictive control","authors":"Baolin Wu, Xibin Cao","doi":"10.1109/ISSCAA.2006.1627693","DOIUrl":"https://doi.org/10.1109/ISSCAA.2006.1627693","url":null,"abstract":"Numerous controllers have been proposed based on linear Hill's equations for satellite formation control. To date, most of these controllers assumed that the system model is well defined, and all the states are known. In this paper, robust constrained model predictive controllers are designed which allows explicit incorporating of the description of parametric uncertainty and the actuator magnitude uncertainty based on this linear Hill's equations. The goal is to design, at each time step, a state-feedback control law which minimizes a \"worst case\" infinite horizon objective function, subject to constraint on the control input. The problem is reduced to a convex optimization involving linear matrix inequalities (LMIs). The proposed robust controllers are evaluated in simulation. The simulation results demonstrate that the proposed controllers are capable of controlling the satellite formation system with parametric uncertainty and the actuator magnitude uncertainty better than LQR","PeriodicalId":275436,"journal":{"name":"2006 1st International Symposium on Systems and Control in Aerospace and Astronautics","volume":"63 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-05-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133892849","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 : 2006-05-08DOI: 10.1109/ISSCAA.2006.1627566
Xuejing Yang, Xiren Zhao
Ships' vertical motion caused by random disturbances of ocean wave is unsafe for navigation and carrier planes' takeoff and landing. To reduce the vertical motion and give an effective control for ship's motion pose, an intelligent model of ship's vertical motion is needed. With the experimental data, based on the self-organizing radial basis function neural network, an intelligent model of vertical motion which can self-adapt with navigating speed, navigating course and ocean condition is presented. The automatic configuration and learning of the network are carried out by using a self-organizing learning algorithm. The results of simulation indicate that the performance of self-organizing radial basis function neural network is better than that of the radial basis function neural network without self-organizing learning
{"title":"Modeling of ship vertical motion with self-organizing radial basis function artificial neural network","authors":"Xuejing Yang, Xiren Zhao","doi":"10.1109/ISSCAA.2006.1627566","DOIUrl":"https://doi.org/10.1109/ISSCAA.2006.1627566","url":null,"abstract":"Ships' vertical motion caused by random disturbances of ocean wave is unsafe for navigation and carrier planes' takeoff and landing. To reduce the vertical motion and give an effective control for ship's motion pose, an intelligent model of ship's vertical motion is needed. With the experimental data, based on the self-organizing radial basis function neural network, an intelligent model of vertical motion which can self-adapt with navigating speed, navigating course and ocean condition is presented. The automatic configuration and learning of the network are carried out by using a self-organizing learning algorithm. The results of simulation indicate that the performance of self-organizing radial basis function neural network is better than that of the radial basis function neural network without self-organizing learning","PeriodicalId":275436,"journal":{"name":"2006 1st International Symposium on Systems and Control in Aerospace and Astronautics","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-05-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131736421","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 : 2006-05-08DOI: 10.1109/ISSCAA.2006.1627496
Liguo Wang, Ye Zhang, Yanfeng Gu
Hyperspectral imagery (HSI) has high spectral dimensionality which presents a serious challenge to HSI processing, and so reduction of dimensionality is necessary. Band selection (BS) is one of the categories of dimensionality reduction methods. Existing BS methods have expensive cost, need prior information or only cater for classification. In order to get an efficient and unsupervised BS method for spectral unmixing, two aspects work are done. First, original N-FINDR algorithm is greatly improved by substituting volume calculation for distance test. Second, the improved N-FINDR algorithm is used to construct an unsupervised BS method for spectral unmixing. Both theory and experiments prove that the new unsupervised BS method is very effective
{"title":"Unsupervised band selection method based on improved N-FINDR algorithm for spectral unmixing","authors":"Liguo Wang, Ye Zhang, Yanfeng Gu","doi":"10.1109/ISSCAA.2006.1627496","DOIUrl":"https://doi.org/10.1109/ISSCAA.2006.1627496","url":null,"abstract":"Hyperspectral imagery (HSI) has high spectral dimensionality which presents a serious challenge to HSI processing, and so reduction of dimensionality is necessary. Band selection (BS) is one of the categories of dimensionality reduction methods. Existing BS methods have expensive cost, need prior information or only cater for classification. In order to get an efficient and unsupervised BS method for spectral unmixing, two aspects work are done. First, original N-FINDR algorithm is greatly improved by substituting volume calculation for distance test. Second, the improved N-FINDR algorithm is used to construct an unsupervised BS method for spectral unmixing. Both theory and experiments prove that the new unsupervised BS method is very effective","PeriodicalId":275436,"journal":{"name":"2006 1st International Symposium on Systems and Control in Aerospace and Astronautics","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-05-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134434237","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 : 2006-05-08DOI: 10.1109/ISSCAA.2006.1627548
Min Yin, Quan Yu
This paper puts forward a differentiated processing framework for near-real time traffic and reliable traffic in a same node. As node's complexity and the contradiction of two kinds of traffic are considered, we extend packet's data structure, use multi-path minimum delay routing protocol as the sharing routing module. Retransmission in the MAC layer guarantees reliable transmission and multi-path helps to keep low delay. The MAC layer is added a notifying function to inform the upper layer of route broken. In addition, multiple queues and accessing queues pro rata in MAC layer fit for practical needs well. They are also convenient for bandwidth allocation for near-real time transmission
{"title":"Differentiated processing policies for near-real time and reliable traffics in ad hoc network","authors":"Min Yin, Quan Yu","doi":"10.1109/ISSCAA.2006.1627548","DOIUrl":"https://doi.org/10.1109/ISSCAA.2006.1627548","url":null,"abstract":"This paper puts forward a differentiated processing framework for near-real time traffic and reliable traffic in a same node. As node's complexity and the contradiction of two kinds of traffic are considered, we extend packet's data structure, use multi-path minimum delay routing protocol as the sharing routing module. Retransmission in the MAC layer guarantees reliable transmission and multi-path helps to keep low delay. The MAC layer is added a notifying function to inform the upper layer of route broken. In addition, multiple queues and accessing queues pro rata in MAC layer fit for practical needs well. They are also convenient for bandwidth allocation for near-real time transmission","PeriodicalId":275436,"journal":{"name":"2006 1st International Symposium on Systems and Control in Aerospace and Astronautics","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-05-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134619450","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 : 2006-05-08DOI: 10.1109/ISSCAA.2006.1627670
Jian Wang, Zhengfei Ding, S. An
In the research area of traveler information service under intelligent transportation systems (ITS), while studying how to provide travelers real-time information we must consider how to satisfy travelers' personal demands for their personal differences. The content of personalized information service is analyzed in this paper. The concept of advanced information service has been put forward from the aspect of information service level. Decision tree approach of data mining is adopted to get travelers' personal information demands, used agent technology to establish the model of information service terminal and defined the functions of the components. Based on the mobile terminals the information service network has been established, and the architecture model of information service network has also been presented
{"title":"An agent-based study on personalized travel information service","authors":"Jian Wang, Zhengfei Ding, S. An","doi":"10.1109/ISSCAA.2006.1627670","DOIUrl":"https://doi.org/10.1109/ISSCAA.2006.1627670","url":null,"abstract":"In the research area of traveler information service under intelligent transportation systems (ITS), while studying how to provide travelers real-time information we must consider how to satisfy travelers' personal demands for their personal differences. The content of personalized information service is analyzed in this paper. The concept of advanced information service has been put forward from the aspect of information service level. Decision tree approach of data mining is adopted to get travelers' personal information demands, used agent technology to establish the model of information service terminal and defined the functions of the components. Based on the mobile terminals the information service network has been established, and the architecture model of information service network has also been presented","PeriodicalId":275436,"journal":{"name":"2006 1st International Symposium on Systems and Control in Aerospace and Astronautics","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-05-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133441848","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}
For the shortage of the system reliability datum in the initial stage of the design of a spaceborne antenna deployment mechanism, unascertained method for system reliability allocation is proposed. This method is based on the weighted allocation method. Through introducing the unascertained information into the matrix of weight coefficients, the unascertained model for the reliability allocation of a spaceborne antenna deployment mechanism is built. By means of the arithmetic operation rules of unascertained rational number, the expression of unascertained weighting coefficient is derived. Finally, the reliability allocation of a spaceborne antenna deployment mechanism is given as an example. The possible reliability values and faith degrees of the system are obtained. The rationality and validity of the presented method are demonstrated
{"title":"Reliability allocation of large spaceborne antenna deployment mechanism system using unascertained method","authors":"Zhentao Liang, Jianjun Chen, Wei Gao, Zengqing Zhu","doi":"10.1109/ISSCAA.2006.1627559","DOIUrl":"https://doi.org/10.1109/ISSCAA.2006.1627559","url":null,"abstract":"For the shortage of the system reliability datum in the initial stage of the design of a spaceborne antenna deployment mechanism, unascertained method for system reliability allocation is proposed. This method is based on the weighted allocation method. Through introducing the unascertained information into the matrix of weight coefficients, the unascertained model for the reliability allocation of a spaceborne antenna deployment mechanism is built. By means of the arithmetic operation rules of unascertained rational number, the expression of unascertained weighting coefficient is derived. Finally, the reliability allocation of a spaceborne antenna deployment mechanism is given as an example. The possible reliability values and faith degrees of the system are obtained. The rationality and validity of the presented method are demonstrated","PeriodicalId":275436,"journal":{"name":"2006 1st International Symposium on Systems and Control in Aerospace and Astronautics","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-05-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121317389","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 : 2006-05-08DOI: 10.1109/ISSCAA.2006.1627436
F. Yi, Z. Liu
Now most applications of vision guided robotic systems are in workspaces where the environments are strictly controlled. The vision system and the manipulator should be precisely calibrated before the system works. In this paper, a control structure combining an active vision system and a manipulator is proposed to simulate the mechanism of a man grasping a target. The binocular active eyes track the target and using inner sensors to simulate human's proprioceptor and give the information of the target pose relative to the "arm", namely, the manipulator. A kind of multistage fuzzy-neuro control strategy is adopted. The advantage of this method is that it can reduce the fuzzy rules number greatly. The simulations show that the system is stable and robust
{"title":"Active vision tracking using an artificial intelligent control scheme","authors":"F. Yi, Z. Liu","doi":"10.1109/ISSCAA.2006.1627436","DOIUrl":"https://doi.org/10.1109/ISSCAA.2006.1627436","url":null,"abstract":"Now most applications of vision guided robotic systems are in workspaces where the environments are strictly controlled. The vision system and the manipulator should be precisely calibrated before the system works. In this paper, a control structure combining an active vision system and a manipulator is proposed to simulate the mechanism of a man grasping a target. The binocular active eyes track the target and using inner sensors to simulate human's proprioceptor and give the information of the target pose relative to the \"arm\", namely, the manipulator. A kind of multistage fuzzy-neuro control strategy is adopted. The advantage of this method is that it can reduce the fuzzy rules number greatly. The simulations show that the system is stable and robust","PeriodicalId":275436,"journal":{"name":"2006 1st International Symposium on Systems and Control in Aerospace and Astronautics","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-05-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120954695","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 : 2006-05-08DOI: 10.1109/ISSCAA.2006.1627712
Qian Yang, G. Yi, Bochang Shen, Henian Wang
The precessional phenomenon and the dynamical model of hemispherical resonator gyro are investigated in this paper. And experiments are performed on a specimen gyro (HRG-14) to measure its zero drift and scale factor. A new analysis of precession in the view of particle force is proposed. Thin shell theory and virtual displacement principle are employed to derive the dynamical model of the hemispherical shell. The influence of shell's geometry parameters on its natural frequency and precession rate is analyzed as the approximate solution of the model. Depending on ANSYS - finite element analyzer, by comparisons among nine models gained from the elementary model, the influence of the shell's geometry parameters on each free frequency is analyzed
{"title":"Kinetic model analysis and testing of HRG","authors":"Qian Yang, G. Yi, Bochang Shen, Henian Wang","doi":"10.1109/ISSCAA.2006.1627712","DOIUrl":"https://doi.org/10.1109/ISSCAA.2006.1627712","url":null,"abstract":"The precessional phenomenon and the dynamical model of hemispherical resonator gyro are investigated in this paper. And experiments are performed on a specimen gyro (HRG-14) to measure its zero drift and scale factor. A new analysis of precession in the view of particle force is proposed. Thin shell theory and virtual displacement principle are employed to derive the dynamical model of the hemispherical shell. The influence of shell's geometry parameters on its natural frequency and precession rate is analyzed as the approximate solution of the model. Depending on ANSYS - finite element analyzer, by comparisons among nine models gained from the elementary model, the influence of the shell's geometry parameters on each free frequency is analyzed","PeriodicalId":275436,"journal":{"name":"2006 1st International Symposium on Systems and Control in Aerospace and Astronautics","volume":"2010 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-05-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115142265","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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