In order to reduce the vibration of smart structures, this paper gets the optimal location of piezoelectric patch by the D-optimal design principle, and then uses a fuzzy logic controller which was designed base on optimal fuzzy rules to control it. The D-optimal design principle is an optimization method which chosen by the maximum determinant of Fisher Information Matrix Criteria. Study on the mode shapes and dynamic characteristics of structure, and the mode shapes of selected structural are converted into unitary mode. In order to approach higher level of vibration control, piezoelectric patches are placed on the maximum mode strain locations of the structure. This paper designs a fuzzy logic controller with a new method which according to the analysis of the motion traits of the beam. The simuliation results show that this controller has more superiority than the ordinary controller.
{"title":"Fuzzy Logic Control on Smart Structure based on Optimal Placement of Piezoelectric Patch","authors":"Jingjun Zhang, Liya Cao, Weize Yuan, Ruizhen Gao","doi":"10.1109/CAR.2009.58","DOIUrl":"https://doi.org/10.1109/CAR.2009.58","url":null,"abstract":"In order to reduce the vibration of smart structures, this paper gets the optimal location of piezoelectric patch by the D-optimal design principle, and then uses a fuzzy logic controller which was designed base on optimal fuzzy rules to control it. The D-optimal design principle is an optimization method which chosen by the maximum determinant of Fisher Information Matrix Criteria. Study on the mode shapes and dynamic characteristics of structure, and the mode shapes of selected structural are converted into unitary mode. In order to approach higher level of vibration control, piezoelectric patches are placed on the maximum mode strain locations of the structure. This paper designs a fuzzy logic controller with a new method which according to the analysis of the motion traits of the beam. The simuliation results show that this controller has more superiority than the ordinary controller.","PeriodicalId":320307,"journal":{"name":"2009 International Asia Conference on Informatics in Control, Automation and Robotics","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126303897","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}
Tracking speed and stability of adaptive gradient filtering algorithms represented by least mean square (LMS) are restricted for non-stationary circumstance. A joint processor which consist of the gradient lattice filter and transversal LMS linear combiner was designed, the performance of processor were investigated when the input signals were interfered by white noise, Volvo noise and pink noise respectively. The noise canceling computer simulation testified that the joint processor could get stabilization only after 20 iterative operations, and provide stronger ability to boost SNR of weak signal compared with transversal LMS filter. All the performance indices including tracking ability and convergence stability are superior to the transversal LMS algorithm in the same circumstance, and it needs less hardware resource.
{"title":"Performance Analysis of Gradient Adaptive Lattice Joint Processing Algorithm","authors":"Haibing Qi","doi":"10.1109/CAR.2009.40","DOIUrl":"https://doi.org/10.1109/CAR.2009.40","url":null,"abstract":"Tracking speed and stability of adaptive gradient filtering algorithms represented by least mean square (LMS) are restricted for non-stationary circumstance. A joint processor which consist of the gradient lattice filter and transversal LMS linear combiner was designed, the performance of processor were investigated when the input signals were interfered by white noise, Volvo noise and pink noise respectively. The noise canceling computer simulation testified that the joint processor could get stabilization only after 20 iterative operations, and provide stronger ability to boost SNR of weak signal compared with transversal LMS filter. All the performance indices including tracking ability and convergence stability are superior to the transversal LMS algorithm in the same circumstance, and it needs less hardware resource.","PeriodicalId":320307,"journal":{"name":"2009 International Asia Conference on Informatics in Control, Automation and Robotics","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128342387","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}
Using the Delta Tau’s PMAC (Programmable Multi-Axis Controller) as the kernel of control, which can carry out all sorts of algorithm in welding robot. Using Philips’ ARM (Advance RISC Machines) as the kernel of peripheral interface, so it can communicate with PMAC by RS-232C, it can communicate with laser seam tracking system by another RS-232C, it can communicate with robot manipulator by CAN-bus, it can communicate with welding machine by Ethernet, and it can communicate with host PC by USB. Using µC/OS-II as operating system in this ARM-based processor, which makes customer’s software Real-time and robust.
{"title":"Research of Welding Robot Controlled by PMAC and ARM Two Processors","authors":"Xingang Miao, Su Wang, Zh Yan, Jiang Chen","doi":"10.1109/CAR.2009.34","DOIUrl":"https://doi.org/10.1109/CAR.2009.34","url":null,"abstract":"Using the Delta Tau’s PMAC (Programmable Multi-Axis Controller) as the kernel of control, which can carry out all sorts of algorithm in welding robot. Using Philips’ ARM (Advance RISC Machines) as the kernel of peripheral interface, so it can communicate with PMAC by RS-232C, it can communicate with laser seam tracking system by another RS-232C, it can communicate with robot manipulator by CAN-bus, it can communicate with welding machine by Ethernet, and it can communicate with host PC by USB. Using µC/OS-II as operating system in this ARM-based processor, which makes customer’s software Real-time and robust.","PeriodicalId":320307,"journal":{"name":"2009 International Asia Conference on Informatics in Control, Automation and Robotics","volume":"93 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133192202","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}
Bridge condition assessment is usually conducted by bridge inspectors on the basis of visual inspections. This inevitably involves human being’s subjective judgments and uncertainties. This paper presents a novel approach for developing a performance evaluation system for existing bridges. The system evaluates the performance of bridges under deterioration on the basis of domain knowledge. Characteristic features of this study are the determination of weight based on domain knowledge. A hypothetical case shows that the proposed evaluation approach offers a flexible and effective way of rating bridge conditions.
{"title":"A Fuzzy Evaluation Approach for Bridge Based on Domain Knowledge","authors":"Ming Chen","doi":"10.1109/CAR.2009.66","DOIUrl":"https://doi.org/10.1109/CAR.2009.66","url":null,"abstract":"Bridge condition assessment is usually conducted by bridge inspectors on the basis of visual inspections. This inevitably involves human being’s subjective judgments and uncertainties. This paper presents a novel approach for developing a performance evaluation system for existing bridges. The system evaluates the performance of bridges under deterioration on the basis of domain knowledge. Characteristic features of this study are the determination of weight based on domain knowledge. A hypothetical case shows that the proposed evaluation approach offers a flexible and effective way of rating bridge conditions.","PeriodicalId":320307,"journal":{"name":"2009 International Asia Conference on Informatics in Control, Automation and Robotics","volume":"103 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132111415","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}
The dynamic physics rule mathematical model of accelerator leg is established, thus, the transfer function of control system is obtained. PID control method is used to design system controller. The critical proportioning method is used to determine the initial parameters of PID controller. SIMULINK is used to simulate the control system based on the initial installed parameters. The parameters of the PID controller are further adjusted according to the simulation results.
{"title":"Control Modeling for Accelerator Leg of Robot Driver","authors":"Zhigang Niu, Yunping Sun","doi":"10.1109/CAR.2009.100","DOIUrl":"https://doi.org/10.1109/CAR.2009.100","url":null,"abstract":"The dynamic physics rule mathematical model of accelerator leg is established, thus, the transfer function of control system is obtained. PID control method is used to design system controller. The critical proportioning method is used to determine the initial parameters of PID controller. SIMULINK is used to simulate the control system based on the initial installed parameters. The parameters of the PID controller are further adjusted according to the simulation results.","PeriodicalId":320307,"journal":{"name":"2009 International Asia Conference on Informatics in Control, Automation and Robotics","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129739178","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}
The paper firstly calculates the optimal location of external torpedoes. And then the dynamics model of the UUV hanging torpedoes externally is established. Also, the force and moment the torpedoes exerted on the unmanned underwater vehicle are analyzed. Based on the model, the corresponding maneuverability simulation program is derived using SIMULINK. The results show the variation of the maneuverability after the UUV hanging torpedoes. The simulation also shows that the model is appropriate and the program has strong simulation functions.
{"title":"Dynamics Modeling and Maneuverability Simulation of the Unmanned Underwater Vehicle Hanging Torpedoes Externally","authors":"Jie Zhou, Shuzong Wang","doi":"10.1109/CAR.2009.68","DOIUrl":"https://doi.org/10.1109/CAR.2009.68","url":null,"abstract":"The paper firstly calculates the optimal location of external torpedoes. And then the dynamics model of the UUV hanging torpedoes externally is established. Also, the force and moment the torpedoes exerted on the unmanned underwater vehicle are analyzed. Based on the model, the corresponding maneuverability simulation program is derived using SIMULINK. The results show the variation of the maneuverability after the UUV hanging torpedoes. The simulation also shows that the model is appropriate and the program has strong simulation functions.","PeriodicalId":320307,"journal":{"name":"2009 International Asia Conference on Informatics in Control, Automation and Robotics","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128257057","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}
To monitor plant disease which caused by spores, it is needed to obtain the spores image exterior outline characteristic, prepares for spores type analysis and automatic counting. This paper uses computer assistance digital image processing, realized image pretreatment, determined the threshold value reasonably, and transformed the gray image to binary image. Images was captured by CCD and input into computer for process. A kind of gray images research method has been proposed. In order to remove low frequency components, the input gray image is preprocessed by edge enhancement using the Median filter and canny edge algorithm. In this foundation using the imagery processing technology carries on morphology analyses, feature extraction and track. Its goal is obtains the spore image exterior outline characteristic, completes the spores type analysis, counting and distinguish.
{"title":"Computer Assistance Image Processing Spores Counting","authors":"Pengyun Xu, Jigang Li","doi":"10.1109/CAR.2009.10","DOIUrl":"https://doi.org/10.1109/CAR.2009.10","url":null,"abstract":"To monitor plant disease which caused by spores, it is needed to obtain the spores image exterior outline characteristic, prepares for spores type analysis and automatic counting. This paper uses computer assistance digital image processing, realized image pretreatment, determined the threshold value reasonably, and transformed the gray image to binary image. Images was captured by CCD and input into computer for process. A kind of gray images research method has been proposed. In order to remove low frequency components, the input gray image is preprocessed by edge enhancement using the Median filter and canny edge algorithm. In this foundation using the imagery processing technology carries on morphology analyses, feature extraction and track. Its goal is obtains the spore image exterior outline characteristic, completes the spores type analysis, counting and distinguish.","PeriodicalId":320307,"journal":{"name":"2009 International Asia Conference on Informatics in Control, Automation and Robotics","volume":"280 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134540040","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}
An adaptive neural network control strategy for a class of nonlinear system is proposed, which combines the technique in generalized predictive control theory and the gradient descent rule to accelerate learning and improve convergence with neural network’s capability of approximating to nonlinear function, Taking the neural network as a model of the system, control signals are directly obtained by minimizing the cumulative differences between a setpoint and output of the model. The effectiveness of the proposed control scheme is illustrated through simulations.
{"title":"Adaptive Tracking Control of Nonlinear Systems Using Neural Networks","authors":"Lin Niu, Liaoyuan Ye","doi":"10.1109/CAR.2009.15","DOIUrl":"https://doi.org/10.1109/CAR.2009.15","url":null,"abstract":"An adaptive neural network control strategy for a class of nonlinear system is proposed, which combines the technique in generalized predictive control theory and the gradient descent rule to accelerate learning and improve convergence with neural network’s capability of approximating to nonlinear function, Taking the neural network as a model of the system, control signals are directly obtained by minimizing the cumulative differences between a setpoint and output of the model. The effectiveness of the proposed control scheme is illustrated through simulations.","PeriodicalId":320307,"journal":{"name":"2009 International Asia Conference on Informatics in Control, Automation and Robotics","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133705834","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 view of domestic traffic, the traffic flow is increasing rapidly recent years, whereas the traffic control is deficient. This paper presents a design of intelligent traffic control system based on DSP and Nios II. Using Dual-CPU, Intelligent Traffic Control System combined with logic control in FPGA implements kinds of functions, which include cross-phase adjustment, exchanging and establishing related information, live human-computer interaction and remote control etc. The system works mostly at the mode of timing and multiple phases according to the user demands dynamically, thus it breaks through the bottleneck of traditional traffic signal controller, and can accomplish the control in complicated and diversified traffic. This paper gives the realization of hardware system as well as the software system. The experiment results show that the Intelligent Traffic Control System can completely meet the requirements of modern traffic control.
{"title":"Intelligent Traffic Control System Based on DSP and Nios II","authors":"Hai-Wen Zhao, Xifeng Zheng, Weiyan Liu","doi":"10.1109/CAR.2009.59","DOIUrl":"https://doi.org/10.1109/CAR.2009.59","url":null,"abstract":"In view of domestic traffic, the traffic flow is increasing rapidly recent years, whereas the traffic control is deficient. This paper presents a design of intelligent traffic control system based on DSP and Nios II. Using Dual-CPU, Intelligent Traffic Control System combined with logic control in FPGA implements kinds of functions, which include cross-phase adjustment, exchanging and establishing related information, live human-computer interaction and remote control etc. The system works mostly at the mode of timing and multiple phases according to the user demands dynamically, thus it breaks through the bottleneck of traditional traffic signal controller, and can accomplish the control in complicated and diversified traffic. This paper gives the realization of hardware system as well as the software system. The experiment results show that the Intelligent Traffic Control System can completely meet the requirements of modern traffic control.","PeriodicalId":320307,"journal":{"name":"2009 International Asia Conference on Informatics in Control, Automation and Robotics","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133846564","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, an ultrasonic-based localization using ultrasonic reflection method is proposed. Experiment environment includes a mobile robot and four poles forming a square around the measuring site. Ultrasonic sensors built on the poles serve as receivers and the mobile robot serves as a transmitter, and all ultrasonic sensors are integrated with their Zig-Bee modules. By the sequential ultrasonic signal transmission between the robot and the poles, the ultrasonic sensors on the poles can then measure the time-of-flight (TOF) without interference to calculate the distance between the receiver and transmitter ends. According to an established two-dimensional coordinate model, position of the robot can be obtained based on the distance measurements. Thanks to Zig-Bee modules, position information of the robot can be instantly conveyed to a remote PC for monitoring the robot and path planning. Extensive experiments conducted have shown a satisfactory accuracy of the coordinates of the mobile robot can be obtained via the proposed localization scheme.
{"title":"An Improved Ultrasonic-Based Localization Using Reflection Method","authors":"C. Hsu, Hsin-Chuan Chen, Chien-Yu Lai","doi":"10.1109/CAR.2009.93","DOIUrl":"https://doi.org/10.1109/CAR.2009.93","url":null,"abstract":"In this paper, an ultrasonic-based localization using ultrasonic reflection method is proposed. Experiment environment includes a mobile robot and four poles forming a square around the measuring site. Ultrasonic sensors built on the poles serve as receivers and the mobile robot serves as a transmitter, and all ultrasonic sensors are integrated with their Zig-Bee modules. By the sequential ultrasonic signal transmission between the robot and the poles, the ultrasonic sensors on the poles can then measure the time-of-flight (TOF) without interference to calculate the distance between the receiver and transmitter ends. According to an established two-dimensional coordinate model, position of the robot can be obtained based on the distance measurements. Thanks to Zig-Bee modules, position information of the robot can be instantly conveyed to a remote PC for monitoring the robot and path planning. Extensive experiments conducted have shown a satisfactory accuracy of the coordinates of the mobile robot can be obtained via the proposed localization scheme.","PeriodicalId":320307,"journal":{"name":"2009 International Asia Conference on Informatics in Control, Automation and Robotics","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116073578","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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