A new neural network sliding mode control method of robot manipulators is proposed, which is formed by incorporating sliding mode variable structure control (SMVSC) and neural network reaching law. The reaching law parameters are regulated adaptively by two feedforward neural networks (FNNs) respectively. This method converts a multi-input system into n single-input systems. Its control arithmetic is simple and easy to implement. It can not only eliminate the chattering of sliding mode control and strengthen the system robustness, but also improve the character of reaching phase. Tracking errors can promptly converge to a neighborhood of zero. The simulation results of two-degree-of-freedom robot manipulators prove the effectiveness of this scheme.
{"title":"Sliding Mode Control of Robot Manipulators Based on Neural Network Reaching Law","authors":"Zhimei Chen, Jing-gang Zhang, Zhenyan Wang, Jian-chao Zeng","doi":"10.1109/ICCA.2007.4376382","DOIUrl":"https://doi.org/10.1109/ICCA.2007.4376382","url":null,"abstract":"A new neural network sliding mode control method of robot manipulators is proposed, which is formed by incorporating sliding mode variable structure control (SMVSC) and neural network reaching law. The reaching law parameters are regulated adaptively by two feedforward neural networks (FNNs) respectively. This method converts a multi-input system into n single-input systems. Its control arithmetic is simple and easy to implement. It can not only eliminate the chattering of sliding mode control and strengthen the system robustness, but also improve the character of reaching phase. Tracking errors can promptly converge to a neighborhood of zero. The simulation results of two-degree-of-freedom robot manipulators prove the effectiveness of this scheme.","PeriodicalId":301284,"journal":{"name":"2007 IEEE International Conference on Control and Automation","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-11-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127115413","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 : 2007-11-05DOI: 10.1109/ICCA.2007.4376637
Minjie Wang, Bin Wu, Shanping Yu, Changjian Feng
Frequency domain method including high frequency resonance technique (envelope analysis) is one of the most efficient methods for detecting localized defect of rolling element bearings. But this theory has a limitation that bearings must run at a constant rotating speed. However, in practice, with load change or in the run-ups and run-downs processes, bearings often work at varying rotating speed. This paper proposes a new scheme to solve this problem, which is based on time-frequency analysis and order analysis techniques. For realizing order tracking without the employment of hardware such as tachometer and keyphasor, the instantaneous frequency estimation method is used for accessing the resampling time serials. The feasibility of this scheme is confirmed by experiment on bearings with outer and inner race faults.
{"title":"An Approach of Bearing Fault Detection and Diagnosis at Varying Rotating Speed","authors":"Minjie Wang, Bin Wu, Shanping Yu, Changjian Feng","doi":"10.1109/ICCA.2007.4376637","DOIUrl":"https://doi.org/10.1109/ICCA.2007.4376637","url":null,"abstract":"Frequency domain method including high frequency resonance technique (envelope analysis) is one of the most efficient methods for detecting localized defect of rolling element bearings. But this theory has a limitation that bearings must run at a constant rotating speed. However, in practice, with load change or in the run-ups and run-downs processes, bearings often work at varying rotating speed. This paper proposes a new scheme to solve this problem, which is based on time-frequency analysis and order analysis techniques. For realizing order tracking without the employment of hardware such as tachometer and keyphasor, the instantaneous frequency estimation method is used for accessing the resampling time serials. The feasibility of this scheme is confirmed by experiment on bearings with outer and inner race faults.","PeriodicalId":301284,"journal":{"name":"2007 IEEE International Conference on Control and Automation","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-11-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127278514","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 : 2007-11-05DOI: 10.1109/ICCA.2007.4376537
A. Wu, G. Duan
Robust global stabilization of a class of cascaded systems with input unmodeled dynamics is considered by output feedback. The admissible unmodeled dynamics is assumed to be relative degree zero and input-to-state stable. A high-gain observer with an additional parameter is employed to cancel the affects of the unmodeled dynamics.
{"title":"Robust Global Stabilization for Nonlinear Systems with Unmodeled Dynamics by Output Feedback","authors":"A. Wu, G. Duan","doi":"10.1109/ICCA.2007.4376537","DOIUrl":"https://doi.org/10.1109/ICCA.2007.4376537","url":null,"abstract":"Robust global stabilization of a class of cascaded systems with input unmodeled dynamics is considered by output feedback. The admissible unmodeled dynamics is assumed to be relative degree zero and input-to-state stable. A high-gain observer with an additional parameter is employed to cancel the affects of the unmodeled dynamics.","PeriodicalId":301284,"journal":{"name":"2007 IEEE International Conference on Control and Automation","volume":"97 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-11-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127438845","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 : 2007-11-05DOI: 10.1109/ICCA.2007.4376662
Qingmei Yang, Jianmin Sun
Multi-sensor data fusion is to combine multi-sensor's information, which is redundant or complementary in the space or the time to obtain the uniform description or the understanding to the measured object according to a certain criterion. Data fusion methods are widely used in autonomous robots' measurement system in order to acquire more comprehensive and more exact information. The paper analyzed several methods of multi-sensor data fusion such as Bayesian theorem, Kalman filter, Dempster-Shafer evidence theory and so on. Move-in-mud robot is an autonomous robot, which can excavate hole in the mud underwater. It can be used in sunken wreck salvage to improve the efficiency of excavating the hole. Location system of move-in-mud robot is designed in the paper and location principle of move-in-mud robot is analyzed. Fuzzy Kalman filter is applied to fuse redundant location information of the robot. The data fusion method is simulated and the simulation result shows fuzzy Kalman filter can get better location accuracy than Kalman filter especially when the errors are big.
{"title":"Design of Location System for an Underwater Autonomous Robot","authors":"Qingmei Yang, Jianmin Sun","doi":"10.1109/ICCA.2007.4376662","DOIUrl":"https://doi.org/10.1109/ICCA.2007.4376662","url":null,"abstract":"Multi-sensor data fusion is to combine multi-sensor's information, which is redundant or complementary in the space or the time to obtain the uniform description or the understanding to the measured object according to a certain criterion. Data fusion methods are widely used in autonomous robots' measurement system in order to acquire more comprehensive and more exact information. The paper analyzed several methods of multi-sensor data fusion such as Bayesian theorem, Kalman filter, Dempster-Shafer evidence theory and so on. Move-in-mud robot is an autonomous robot, which can excavate hole in the mud underwater. It can be used in sunken wreck salvage to improve the efficiency of excavating the hole. Location system of move-in-mud robot is designed in the paper and location principle of move-in-mud robot is analyzed. Fuzzy Kalman filter is applied to fuse redundant location information of the robot. The data fusion method is simulated and the simulation result shows fuzzy Kalman filter can get better location accuracy than Kalman filter especially when the errors are big.","PeriodicalId":301284,"journal":{"name":"2007 IEEE International Conference on Control and Automation","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-11-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127467699","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 : 2007-11-05DOI: 10.1109/ICCA.2007.4376963
Ming Zeng, Bugong Xu
For energy-constrained wireless sensor networks (WSNs), the topology control issue is fundamental and important to maximize the overall network lifetime. Recently a two-tiered network model has been proposed for this purpose. It is a cluster-based network model composed of application and sensor nodes. In this model the application nodes are easy to run out of energy because they not only serve as cluster heads for aggregating data packets from the sensor nodes in their clusters but also are responsible for forming a connected network topology for information dissemination at the higher tier. In order to balance nodes' power consumption and extend the topological lifetime of a WSN with regard to a certain amount of initial energy provision, we propose a logical three-tiered network model which consist of relay nodes (RNs), application nodes (ANs) and sensor nodes (SNs). Under this architecture, the goal of lower-tier SNs is to sense the playing fields and middle-tier ANs only need to gather data from their clusters; Upper-tier RNs are designed to route information as efficiently as possible. In this paper, we first formulate the three-tiered WSN's model as well as the power consumption model of WSNs. Then considering one dimension relaying, we figure out the RNs' optimal placement for each AN which can considerably minimize the total power consumption for WSNs. Finally, we give some criteria for two-dimension relaying.
{"title":"A Three-tiered Topology Control Model for Large Scale Scale Wireless Sensor Networks","authors":"Ming Zeng, Bugong Xu","doi":"10.1109/ICCA.2007.4376963","DOIUrl":"https://doi.org/10.1109/ICCA.2007.4376963","url":null,"abstract":"For energy-constrained wireless sensor networks (WSNs), the topology control issue is fundamental and important to maximize the overall network lifetime. Recently a two-tiered network model has been proposed for this purpose. It is a cluster-based network model composed of application and sensor nodes. In this model the application nodes are easy to run out of energy because they not only serve as cluster heads for aggregating data packets from the sensor nodes in their clusters but also are responsible for forming a connected network topology for information dissemination at the higher tier. In order to balance nodes' power consumption and extend the topological lifetime of a WSN with regard to a certain amount of initial energy provision, we propose a logical three-tiered network model which consist of relay nodes (RNs), application nodes (ANs) and sensor nodes (SNs). Under this architecture, the goal of lower-tier SNs is to sense the playing fields and middle-tier ANs only need to gather data from their clusters; Upper-tier RNs are designed to route information as efficiently as possible. In this paper, we first formulate the three-tiered WSN's model as well as the power consumption model of WSNs. Then considering one dimension relaying, we figure out the RNs' optimal placement for each AN which can considerably minimize the total power consumption for WSNs. Finally, we give some criteria for two-dimension relaying.","PeriodicalId":301284,"journal":{"name":"2007 IEEE International Conference on Control and Automation","volume":"61 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-11-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130209493","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 : 2007-11-05DOI: 10.1109/ICCA.2007.4376829
Tong-li Chang, D. Cong, Zhengmao Ye, Jun-wei Han
This paper presents an idea on the simulation/hardware interface of hardware-in-the-loop (HIL) simulation for spacecraft on-orbit docking. The obstacles that hinder the design of the HIL simulation system are discussed. Then the design criteria of the HIL simulation system are presented based on them. Since the practical HIL simulation system for on-orbit docking is very complicated, the verification about the criteria was done on 1 degree-of-freedom (DOF) case with the nonlinear docking mechanism model. To put the design criteria into practice, the two-degree-of-freedom control structure is required as a control structure for the HIL simulation system for on-orbit docking. The relation ship between the distortion of the HIL simulation and the transfer characteristics of the simulation/hardware interface is qualitatively discussed. The simulation results on 1 DOF case demonstrated that the ideas and the methods discussed above are feasible and practical.
{"title":"Interface Issues in Hardware-In-the-Loop Simulation for Spacecraft On-orbit Docking","authors":"Tong-li Chang, D. Cong, Zhengmao Ye, Jun-wei Han","doi":"10.1109/ICCA.2007.4376829","DOIUrl":"https://doi.org/10.1109/ICCA.2007.4376829","url":null,"abstract":"This paper presents an idea on the simulation/hardware interface of hardware-in-the-loop (HIL) simulation for spacecraft on-orbit docking. The obstacles that hinder the design of the HIL simulation system are discussed. Then the design criteria of the HIL simulation system are presented based on them. Since the practical HIL simulation system for on-orbit docking is very complicated, the verification about the criteria was done on 1 degree-of-freedom (DOF) case with the nonlinear docking mechanism model. To put the design criteria into practice, the two-degree-of-freedom control structure is required as a control structure for the HIL simulation system for on-orbit docking. The relation ship between the distortion of the HIL simulation and the transfer characteristics of the simulation/hardware interface is qualitatively discussed. The simulation results on 1 DOF case demonstrated that the ideas and the methods discussed above are feasible and practical.","PeriodicalId":301284,"journal":{"name":"2007 IEEE International Conference on Control and Automation","volume":"74 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-11-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130613300","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 : 2007-11-05DOI: 10.1109/ICCA.2007.4376837
Wanzeng Kong, Shan-an Zhu, Can Yang
Networked level control is a very important part in many industries. In this paper, a new method called generalized predictive control (GPC) combined with a queuing-selecting strategy is applied for level control in networked control system (NCS). A distributed model which contains an event-driven controller, and a time-driven sensor and actuator is adopted in the system. The proposed method relieve the degradation of the network control system caused by the network-induced delay . The experiment is carried out on three-coupled-tank over real network to test the proposed method, which verifies the stability and robustness of the proposed method.
{"title":"GPC Algorithm and Queuing-selecting for Networked Level Control","authors":"Wanzeng Kong, Shan-an Zhu, Can Yang","doi":"10.1109/ICCA.2007.4376837","DOIUrl":"https://doi.org/10.1109/ICCA.2007.4376837","url":null,"abstract":"Networked level control is a very important part in many industries. In this paper, a new method called generalized predictive control (GPC) combined with a queuing-selecting strategy is applied for level control in networked control system (NCS). A distributed model which contains an event-driven controller, and a time-driven sensor and actuator is adopted in the system. The proposed method relieve the degradation of the network control system caused by the network-induced delay . The experiment is carried out on three-coupled-tank over real network to test the proposed method, which verifies the stability and robustness of the proposed method.","PeriodicalId":301284,"journal":{"name":"2007 IEEE International Conference on Control and Automation","volume":"82 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-11-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130666388","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 : 2007-11-05DOI: 10.1109/ICCA.2007.4376638
Zhong Liu, Jian-zhong Zhou, Min Zou, Yongchuan Zhang, Liangliang Zhan
There are considerably economical and social merits in the condition monitoring and fault diagnosis of hydroelectric generating unit (HGU). After the analysis on shortages in conventional techniques of signal processing and fault diagnosis, a new method for intelligent fault diagnosis of HGU based on compound feature extraction and radial basis function neural network (RBFNN) is proposed. Vibration or pressure pulsation signals from different parts of HGU are decomposed into different frequency bands via wavelet transform. Relative energy features are extracted after denoising. The influences of the process parameters' variations on the stability state are evaluated and quantified via correlation analysis, and relationship symptoms are obtained. Compound feature containing abundant fault information with several parameters is then formed and input into RBFNN based diagnosis system to determine the fault type and severity degree. Results of engineering application show that this proposed method can identify the faults relevant to the stability of HGU feasibly and efficiently.
{"title":"A New Method for Intelligent Fault Diagnosis of Hydroelectric Generating Unit","authors":"Zhong Liu, Jian-zhong Zhou, Min Zou, Yongchuan Zhang, Liangliang Zhan","doi":"10.1109/ICCA.2007.4376638","DOIUrl":"https://doi.org/10.1109/ICCA.2007.4376638","url":null,"abstract":"There are considerably economical and social merits in the condition monitoring and fault diagnosis of hydroelectric generating unit (HGU). After the analysis on shortages in conventional techniques of signal processing and fault diagnosis, a new method for intelligent fault diagnosis of HGU based on compound feature extraction and radial basis function neural network (RBFNN) is proposed. Vibration or pressure pulsation signals from different parts of HGU are decomposed into different frequency bands via wavelet transform. Relative energy features are extracted after denoising. The influences of the process parameters' variations on the stability state are evaluated and quantified via correlation analysis, and relationship symptoms are obtained. Compound feature containing abundant fault information with several parameters is then formed and input into RBFNN based diagnosis system to determine the fault type and severity degree. Results of engineering application show that this proposed method can identify the faults relevant to the stability of HGU feasibly and efficiently.","PeriodicalId":301284,"journal":{"name":"2007 IEEE International Conference on Control and Automation","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-11-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130231505","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 : 2007-11-05DOI: 10.1109/ICCA.2007.4376375
Dawei Qi, Lei Yu, Shuxia Han, Fanci Guo
Wood nondestructive testing technology is a new and comprehensive subject. X-ray computed tomography (CT) scanning technology has been applied to the detection of internal defects in the logs for the purpose of obtaining prior information that can be used to arrive at better log sawing decision. Thus, the recognition of internal defects becomes more and more important work. A method in log CT image edge detection of defects based on multifractal theory was applied in the paper. The Holder exponent of image pixels was computed first, then its multifractal spectrum was estimated and different image pixels were classified, Based on multifractal theory, the set of both singular edge points and smoothing edge points is the set of image edge points. Experimental result showed that the method of log CT image in the edge detection based on multifractal theory was a more effective and more local method.
{"title":"Based on Computed Tomography Multifractal Analysis of Wood Defect","authors":"Dawei Qi, Lei Yu, Shuxia Han, Fanci Guo","doi":"10.1109/ICCA.2007.4376375","DOIUrl":"https://doi.org/10.1109/ICCA.2007.4376375","url":null,"abstract":"Wood nondestructive testing technology is a new and comprehensive subject. X-ray computed tomography (CT) scanning technology has been applied to the detection of internal defects in the logs for the purpose of obtaining prior information that can be used to arrive at better log sawing decision. Thus, the recognition of internal defects becomes more and more important work. A method in log CT image edge detection of defects based on multifractal theory was applied in the paper. The Holder exponent of image pixels was computed first, then its multifractal spectrum was estimated and different image pixels were classified, Based on multifractal theory, the set of both singular edge points and smoothing edge points is the set of image edge points. Experimental result showed that the method of log CT image in the edge detection based on multifractal theory was a more effective and more local method.","PeriodicalId":301284,"journal":{"name":"2007 IEEE International Conference on Control and Automation","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-11-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131306792","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 : 2007-11-05DOI: 10.1109/ICCA.2007.4376788
L. Xinhua, Wang Weida, L. Wenjian
In order to verify the correctness of business process model, A-Net modeling based on activity was studied and a multilevel verification model based on knowledge rules was established. An extended structure of knowledge rule was proposed and a flowchart was presented for the multi-level verification model. Moreover, a modified genetic algorithm was proposed to resolve the resource scheduling conflicts checked by the verification model. The structure and flowchart of the modified genetic algorithm were designed. Finally, an illustrative example was proposed and the verification model was proved feasibility and efficient.
{"title":"An Intelligent Methodology for Business Process Model Verification","authors":"L. Xinhua, Wang Weida, L. Wenjian","doi":"10.1109/ICCA.2007.4376788","DOIUrl":"https://doi.org/10.1109/ICCA.2007.4376788","url":null,"abstract":"In order to verify the correctness of business process model, A-Net modeling based on activity was studied and a multilevel verification model based on knowledge rules was established. An extended structure of knowledge rule was proposed and a flowchart was presented for the multi-level verification model. Moreover, a modified genetic algorithm was proposed to resolve the resource scheduling conflicts checked by the verification model. The structure and flowchart of the modified genetic algorithm were designed. Finally, an illustrative example was proposed and the verification model was proved feasibility and efficient.","PeriodicalId":301284,"journal":{"name":"2007 IEEE International Conference on Control and Automation","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-11-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125546754","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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