The guidance technique for suborbital reentry is discussed based on the flight characteristics and constraints of RLV. The suborbital reentry is divided by three sequential phases: Alpha Hold, Nz Hold and Alpha Transition. Firstly, the factors contributing to dynamic pressure rate are analyzed, and the guidance strategy is designed to arrest the sink rate to restrict dynamic pressure. Secondly, the alpha and normal acceleration commands are chosen, and the simulation result shows the structure and control constraints are well satisfied. Lastly, an automatic guidance method is present to adjust the alpha and Nz command based on keeping the maximum dynamic pressure near that of the nominal when initial altitude is uncertain.
{"title":"The Design of Guidance on Suborbital Reentry","authors":"Liaoni Wu, Yimin Huang, Jun Zhang","doi":"10.1109/CAR.2009.63","DOIUrl":"https://doi.org/10.1109/CAR.2009.63","url":null,"abstract":"The guidance technique for suborbital reentry is discussed based on the flight characteristics and constraints of RLV. The suborbital reentry is divided by three sequential phases: Alpha Hold, Nz Hold and Alpha Transition. Firstly, the factors contributing to dynamic pressure rate are analyzed, and the guidance strategy is designed to arrest the sink rate to restrict dynamic pressure. Secondly, the alpha and normal acceleration commands are chosen, and the simulation result shows the structure and control constraints are well satisfied. Lastly, an automatic guidance method is present to adjust the alpha and Nz command based on keeping the maximum dynamic pressure near that of the nominal when initial altitude is uncertain.","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":"127241647","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 Five Degrees of Freedom Air-bearing Spacecraft Simulator (5DOFASS) is designed at Harbin Institute of Technology for the purpose of simulating spacecraft autonomous formation flying and orbital maneuver. The 5DOFASS contains an attitude platform supported on a hemispherical air-bearing and a translation platform floated on three linear air-bearing feet, which provides a very low friction and 0-g environment in an Earth-bound laboratory. In this paper, the design and development of the 5DOFASS is described in detail, including working principle, structure, and control system. Some ongoing research problems and future plans are reported at the end of the article.
{"title":"Design and Development of a 5-DOF Air-Bearing Spacecraft Simulator","authors":"Xu Jian, Bao Gang, Yang QinJun, Li Jun","doi":"10.1109/CAR.2009.7","DOIUrl":"https://doi.org/10.1109/CAR.2009.7","url":null,"abstract":"The Five Degrees of Freedom Air-bearing Spacecraft Simulator (5DOFASS) is designed at Harbin Institute of Technology for the purpose of simulating spacecraft autonomous formation flying and orbital maneuver. The 5DOFASS contains an attitude platform supported on a hemispherical air-bearing and a translation platform floated on three linear air-bearing feet, which provides a very low friction and 0-g environment in an Earth-bound laboratory. In this paper, the design and development of the 5DOFASS is described in detail, including working principle, structure, and control system. Some ongoing research problems and future plans are reported at the end of the article.","PeriodicalId":320307,"journal":{"name":"2009 International Asia Conference on Informatics in Control, Automation and Robotics","volume":"5 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":"127217701","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}
According to the theory of the accelerated life test, a new accelerated life testing stand for airborne hydraulic pump has been developed recently. During the testing under the circular stress, Speed character of the airborne hydraulic pump accompanied with vibration and noise of the gear box has become worse because gear backlash that often leads to collision in gear transmission is always existed in the gear meshing. Dynamic behavior of gear transmission collision has been analyzed after the theory of the circular stress has been introduced. In order to reduce the impact on the speed the airborne hydraulic pump, a single neuron self-adaptive PID controller and a load torque observer have been projected. The research results show that this method is indeed improving speed robustness for airborne hydraulic pump.
{"title":"Research on Speed Robustness for Airborne Hydraulic Pump in the Circular Stress Accelerated Life Test","authors":"Y. Sang, Zhanlin Wang","doi":"10.1109/CAR.2009.71","DOIUrl":"https://doi.org/10.1109/CAR.2009.71","url":null,"abstract":"According to the theory of the accelerated life test, a new accelerated life testing stand for airborne hydraulic pump has been developed recently. During the testing under the circular stress, Speed character of the airborne hydraulic pump accompanied with vibration and noise of the gear box has become worse because gear backlash that often leads to collision in gear transmission is always existed in the gear meshing. Dynamic behavior of gear transmission collision has been analyzed after the theory of the circular stress has been introduced. In order to reduce the impact on the speed the airborne hydraulic pump, a single neuron self-adaptive PID controller and a load torque observer have been projected. The research results show that this method is indeed improving speed robustness for airborne hydraulic pump.","PeriodicalId":320307,"journal":{"name":"2009 International Asia Conference on Informatics in Control, Automation and Robotics","volume":"36 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":"125393832","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}
Ping Li, Xiao-ming Geng, Yan Zhang, Zhen-gang Zhai
Blinking jamming is an effective countermeasure against monopulse radar seeker. It causes line-of-sight angle to step continuously between the two angular positions through jamming resources emitting by turns. The expression of angle noise in synchronous blinking jamming and the relationship between the parameter of jamming resource and Angle Noise are analyzed on the basis of the situation of line-of-sight angle position between missile and target. The relationship between the parameter of jamming resources and Angle Noise is important in application of blinking jamming.
{"title":"The Analysis on Angle Noise Produced by Blinking Jamming","authors":"Ping Li, Xiao-ming Geng, Yan Zhang, Zhen-gang Zhai","doi":"10.1109/CAR.2009.104","DOIUrl":"https://doi.org/10.1109/CAR.2009.104","url":null,"abstract":"Blinking jamming is an effective countermeasure against monopulse radar seeker. It causes line-of-sight angle to step continuously between the two angular positions through jamming resources emitting by turns. The expression of angle noise in synchronous blinking jamming and the relationship between the parameter of jamming resource and Angle Noise are analyzed on the basis of the situation of line-of-sight angle position between missile and target. The relationship between the parameter of jamming resources and Angle Noise is important in application of blinking jamming.","PeriodicalId":320307,"journal":{"name":"2009 International Asia Conference on Informatics in Control, Automation and Robotics","volume":"76 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":"124089141","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}
V. Pilania, Shaunak Mishra, Subrat Panda, Aurosish Mishra
Emergent behavior in social insects has inspired a new class of robots called swarm robots. However, computational and economic constraints regarding inter-robot communication still persist. This paper introduces a low cost architecture facilitating co-operative searching and transport through a master-slave swarm robot concept. Especially, we focus on the directional movement of the slave robots depending on the position of the master robot without using a camera. Experimental results show that the architecture is an economic solution for macro level inter-robot communication involving positional data on an even terrain.
{"title":"A Novel Approach to Swarm Bot Architecture","authors":"V. Pilania, Shaunak Mishra, Subrat Panda, Aurosish Mishra","doi":"10.1109/CAR.2009.50","DOIUrl":"https://doi.org/10.1109/CAR.2009.50","url":null,"abstract":"Emergent behavior in social insects has inspired a new class of robots called swarm robots. However, computational and economic constraints regarding inter-robot communication still persist. This paper introduces a low cost architecture facilitating co-operative searching and transport through a master-slave swarm robot concept. Especially, we focus on the directional movement of the slave robots depending on the position of the master robot without using a camera. Experimental results show that the architecture is an economic solution for macro level inter-robot communication involving positional data on an even terrain.","PeriodicalId":320307,"journal":{"name":"2009 International Asia Conference on Informatics in Control, Automation and Robotics","volume":"40 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":"117226008","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 interpolation method using Non-Uniform Rational B-Spline (NURBS) technology in the CAD field is proposed and realized in a 5-axis Computer Numerically Controlled (CNC) system. In this method, the tool path is represented to two NURBS curves, tool-tip and tool-orientation spline curve, based on the same knot vector. CL data is firstly calculated and then transformed to five motion commands of 5 axes of machine through the real-time post-procession algorithm. The acceleration/deceleration controlling method is also presented to avoid the impact of machine. The proposed 5-axis spline interpolation method is realized in our developing 5-axis machine tool and the result of machining shows that the method is feasible.
{"title":"Method of 5-axis Spline Interpolation and Realization in CNC System","authors":"Liangji Chen","doi":"10.1109/CAR.2009.8","DOIUrl":"https://doi.org/10.1109/CAR.2009.8","url":null,"abstract":"An interpolation method using Non-Uniform Rational B-Spline (NURBS) technology in the CAD field is proposed and realized in a 5-axis Computer Numerically Controlled (CNC) system. In this method, the tool path is represented to two NURBS curves, tool-tip and tool-orientation spline curve, based on the same knot vector. CL data is firstly calculated and then transformed to five motion commands of 5 axes of machine through the real-time post-procession algorithm. The acceleration/deceleration controlling method is also presented to avoid the impact of machine. The proposed 5-axis spline interpolation method is realized in our developing 5-axis machine tool and the result of machining shows that the method is feasible.","PeriodicalId":320307,"journal":{"name":"2009 International Asia Conference on Informatics in Control, Automation and Robotics","volume":"2 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":"131510914","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}
A new controller is presented for the chaotic synchronization and secure communication problems of two Chua’s systems in application. The method of forming controller is given in the paper. And it is analysed and proved by using Lyapunov stability theory that the new controller can control the error of two different Chua’s chaotic systems to be asymptotically stabile. Finally under the control of controller, a lot of computer simulation experiments are done by using Matlab for the synchronous communications between the different structure Chua’s systems, and between the different state Chua’s systems and so on. The simulation results demonstrate the effectiveness of the controller.
{"title":"A New Controller Controlling the Synchronous Communication between Different Chua's Circuits","authors":"Hong Chen, Q. Ding","doi":"10.1109/CAR.2009.77","DOIUrl":"https://doi.org/10.1109/CAR.2009.77","url":null,"abstract":"A new controller is presented for the chaotic synchronization and secure communication problems of two Chua’s systems in application. The method of forming controller is given in the paper. And it is analysed and proved by using Lyapunov stability theory that the new controller can control the error of two different Chua’s chaotic systems to be asymptotically stabile. Finally under the control of controller, a lot of computer simulation experiments are done by using Matlab for the synchronous communications between the different structure Chua’s systems, and between the different state Chua’s systems and so on. The simulation results demonstrate the effectiveness of the controller.","PeriodicalId":320307,"journal":{"name":"2009 International Asia Conference on Informatics in Control, Automation and Robotics","volume":"17 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":"131921742","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}
Chifu Yang, Qitao Huang, Jingfeng He, Hongzhou Jiang, Junwei Han
A novel model-based controller for six-degree-of- freedom (DOF) parallel manipulator is proposed in this paper, in order to abatement the influence of platform load variety and compel the steady state errors converge to zero. In this paper, 6-DOF parallel manipulator is described as multi-rigid-body systems, the mathematical model of the 6-DOF parallel manipulator including dynamics based on Kane method and kinematics used closed-form solutions and Newton-Raphson method is built in generalized coordinate system. The model-based controller is presented with the feedback of cylinders positions of platform, desired trajectories and dynamics gravity as the input and the servovalve current as its output. The performance of the control scheme for 6-DOF parallel manipulator is analyzed. Simulation of the parallel manipulator with model-based controller is executed in MATLAB/Simulink, the simulation results indicate the model-based controller can reduce the influence of load variety of platform and eliminate steady state error of 6-DOF hydraulic driven parallel manipulator.
{"title":"Model-based Control for 6-DOF Parallel Manipulator","authors":"Chifu Yang, Qitao Huang, Jingfeng He, Hongzhou Jiang, Junwei Han","doi":"10.1109/CAR.2009.72","DOIUrl":"https://doi.org/10.1109/CAR.2009.72","url":null,"abstract":"A novel model-based controller for six-degree-of- freedom (DOF) parallel manipulator is proposed in this paper, in order to abatement the influence of platform load variety and compel the steady state errors converge to zero. In this paper, 6-DOF parallel manipulator is described as multi-rigid-body systems, the mathematical model of the 6-DOF parallel manipulator including dynamics based on Kane method and kinematics used closed-form solutions and Newton-Raphson method is built in generalized coordinate system. The model-based controller is presented with the feedback of cylinders positions of platform, desired trajectories and dynamics gravity as the input and the servovalve current as its output. The performance of the control scheme for 6-DOF parallel manipulator is analyzed. Simulation of the parallel manipulator with model-based controller is executed in MATLAB/Simulink, the simulation results indicate the model-based controller can reduce the influence of load variety of platform and eliminate steady state error of 6-DOF hydraulic driven parallel manipulator.","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":"128382603","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}
Collective management of patient records enhances the ability to identify disease and supporting treatment decisions. We propose a Web-based system for the collective management of medical information for stroke patients. Our system collects data about acute stroke patients, allows physicians to collaborate over the Internet, simplifies physician reporting, improves the management of results from various evaluation steps, and supports treatment decisions. By providing timely guidance on rapid evaluation and treatment of time-dependent diseases such as acute stroke, which need fast and consistent communication between medical service providers, our system can improve patient outcomes.
{"title":"Collective Management of Medical Information in a Decision Support System","authors":"Eunjeong Park, Heonshik Shin, H. Nam","doi":"10.1109/CAR.2009.105","DOIUrl":"https://doi.org/10.1109/CAR.2009.105","url":null,"abstract":"Collective management of patient records enhances the ability to identify disease and supporting treatment decisions. We propose a Web-based system for the collective management of medical information for stroke patients. Our system collects data about acute stroke patients, allows physicians to collaborate over the Internet, simplifies physician reporting, improves the management of results from various evaluation steps, and supports treatment decisions. By providing timely guidance on rapid evaluation and treatment of time-dependent diseases such as acute stroke, which need fast and consistent communication between medical service providers, our system can improve patient outcomes.","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":"130048813","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}
Lei Wang, Peiyu Guo, Jinhui Xie, Yin-Er Yao, Jinchun Liang
There are many solutions and standards about digital rights management(DRM) now. Almost all the solutions used cryptography and rights processing technologies to protect contents. Only legal users can decrypt and enjoy contents under the control of rights information, illegal users are prohibited. Rights processing technologies include rights expression languages (REL), binary encoding method, virtual machine, and so on. ODRL (Open Digital Rights Language) and XrML (eXtensible Markup Language) are all RELs, which express rights based on XML. Broadcasting flag encodes copy control information into binary data block. Marlin DRM uses Plankton virtual machine to process rights information. In this paper, we provided a rights processing method which is based on ASN.1(Abstract Syntax Notation One) syntax and using ASN.1 distinguishable encoding rule (DER) to encode rights information into binary data block. Compared with RELs, this rights processing method uses less bits to express rights information and can save more bandwidth during transmission. And it can express more rights information than broadcast flag.
目前关于数字版权管理(DRM)有很多解决方案和标准。几乎所有的解决方案都使用加密和权限处理技术来保护内容。只有合法用户才能解密和享受版权信息控制下的内容，非法用户禁止使用。权限处理技术包括权限表示语言(REL)、二进制编码方法、虚拟机等。ODRL (Open Digital Rights Language)和XrML (eXtensible Markup Language)都是基于XML表达权限的rel。广播标志将复制控制信息编码成二进制数据块。马林DRM采用浮游生物虚拟机处理版权信息。本文提出了一种基于ASN.1(Abstract Syntax Notation One)语法，利用ASN.1可分辨编码规则(DER)将权限信息编码为二进制数据块的权限处理方法。与rel相比，该方法使用更少的比特来表达权限信息，在传输过程中可以节省更多的带宽。它比广播旗能表达更多的权利信息。
{"title":"A New Rights Processing Method for DRM Systems","authors":"Lei Wang, Peiyu Guo, Jinhui Xie, Yin-Er Yao, Jinchun Liang","doi":"10.1109/CAR.2009.12","DOIUrl":"https://doi.org/10.1109/CAR.2009.12","url":null,"abstract":"There are many solutions and standards about digital rights management(DRM) now. Almost all the solutions used cryptography and rights processing technologies to protect contents. Only legal users can decrypt and enjoy contents under the control of rights information, illegal users are prohibited. Rights processing technologies include rights expression languages (REL), binary encoding method, virtual machine, and so on. ODRL (Open Digital Rights Language) and XrML (eXtensible Markup Language) are all RELs, which express rights based on XML. Broadcasting flag encodes copy control information into binary data block. Marlin DRM uses Plankton virtual machine to process rights information. In this paper, we provided a rights processing method which is based on ASN.1(Abstract Syntax Notation One) syntax and using ASN.1 distinguishable encoding rule (DER) to encode rights information into binary data block. Compared with RELs, this rights processing method uses less bits to express rights information and can save more bandwidth during transmission. And it can express more rights information than broadcast flag.","PeriodicalId":320307,"journal":{"name":"2009 International Asia Conference on Informatics in Control, Automation and Robotics","volume":"17 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":"125383564","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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