Pub Date : 2006-10-23DOI: 10.1109/WCICA.2006.1713790
Dingyu Xue, Zhen Chen, Xinhe Xu, Zongjun Tang, Yanmei Liu
A type of omni-directional wall-climbing robot is designed. This paper expounded mainly on its design of key structures, analysis of safety property, steering technique and designing thought for realizing barrier transcendence. The robot is system for autonomous moving on multi-wall is composed of walking and turning mechanism, vacuum adhering device. The general structure and the realization of function of omni-directional are discussed in detail, Analysis show the robot possesses certain barrier exceeding ability, run towards all direction in line and definite rotated angel at its original place
{"title":"Research of an Omni-Directional Wall-Climbing Robot","authors":"Dingyu Xue, Zhen Chen, Xinhe Xu, Zongjun Tang, Yanmei Liu","doi":"10.1109/WCICA.2006.1713790","DOIUrl":"https://doi.org/10.1109/WCICA.2006.1713790","url":null,"abstract":"A type of omni-directional wall-climbing robot is designed. This paper expounded mainly on its design of key structures, analysis of safety property, steering technique and designing thought for realizing barrier transcendence. The robot is system for autonomous moving on multi-wall is composed of walking and turning mechanism, vacuum adhering device. The general structure and the realization of function of omni-directional are discussed in detail, Analysis show the robot possesses certain barrier exceeding ability, run towards all direction in line and definite rotated angel at its original place","PeriodicalId":375135,"journal":{"name":"2006 6th World Congress on Intelligent Control and Automation","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-10-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129570603","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 : 2006-10-23DOI: 10.1109/WCICA.2006.1714281
Dong Wang, Tao Yu, Wenbin Wang
Virtual manufacturing (VM) based on virtual reality technology is an essential realization of the practical manufacturing. This paper studied the architecture of virtual assembling and manufacturing of simulation system for numerical control machine tools (VAMSSNCMT) and the key technologies in this system. Some software development kits, such as Visual C++ and Open Inventor, are used to develop the VAMSSNCMT. This system afforded us the opportunity to develop some important simulation functions, including virtual assembling, virtual lathing and the simulation to the cutter's temperature field. In this paper, the application instance of CK6430 produced by Shanghai machine tool factory was given. Finally, this paper showed the developing way of VM
{"title":"Study on Virtual Assembling and Manufacturing of Simulation System for Numerical Control Machine Tools","authors":"Dong Wang, Tao Yu, Wenbin Wang","doi":"10.1109/WCICA.2006.1714281","DOIUrl":"https://doi.org/10.1109/WCICA.2006.1714281","url":null,"abstract":"Virtual manufacturing (VM) based on virtual reality technology is an essential realization of the practical manufacturing. This paper studied the architecture of virtual assembling and manufacturing of simulation system for numerical control machine tools (VAMSSNCMT) and the key technologies in this system. Some software development kits, such as Visual C++ and Open Inventor, are used to develop the VAMSSNCMT. This system afforded us the opportunity to develop some important simulation functions, including virtual assembling, virtual lathing and the simulation to the cutter's temperature field. In this paper, the application instance of CK6430 produced by Shanghai machine tool factory was given. Finally, this paper showed the developing way of VM","PeriodicalId":375135,"journal":{"name":"2006 6th World Congress on Intelligent Control and Automation","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-10-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129601868","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 : 2006-10-23DOI: 10.1109/WCICA.2006.1712764
Qingwei Wang, Zhenghua Liu, Lianjie Er
QFT can provide robust control for the plant with large uncertainties. Since the manual design with the help of QFT box in Matlab is complicated and even unsolvable and the existed automatic design methods are limited in optimization, based on the genetic algorithms, a more effective automatic design methodology of QFT robust controller is proposed. Some new optimization indexes are adopted, so the design method is more mature. Comparing with the results from the manual design and other automatic design methods, the performance of the QFT controller based on genetic algorithms is the best. It is an automatic and optimal design method for QFT robust controller. This method is effective, successful and applicable
{"title":"Automatic Design of QFT Robust Controller Based on Genetic Algorithms","authors":"Qingwei Wang, Zhenghua Liu, Lianjie Er","doi":"10.1109/WCICA.2006.1712764","DOIUrl":"https://doi.org/10.1109/WCICA.2006.1712764","url":null,"abstract":"QFT can provide robust control for the plant with large uncertainties. Since the manual design with the help of QFT box in Matlab is complicated and even unsolvable and the existed automatic design methods are limited in optimization, based on the genetic algorithms, a more effective automatic design methodology of QFT robust controller is proposed. Some new optimization indexes are adopted, so the design method is more mature. Comparing with the results from the manual design and other automatic design methods, the performance of the QFT controller based on genetic algorithms is the best. It is an automatic and optimal design method for QFT robust controller. This method is effective, successful and applicable","PeriodicalId":375135,"journal":{"name":"2006 6th World Congress on Intelligent Control and Automation","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-10-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129720407","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 : 2006-10-23DOI: 10.1109/WCICA.2006.1714044
Li Xun, Yonghua Fang
According to the property of hyperspectral remote sensing data, a new anomaly detection algorithm based on high-order statistics is presented. The proposed algorithm used the augmented Lagrange multiplier (ALM) method to search for a projection that maximized the high-order statistics. They include normalized third central moment referred to as skewness and the normalized fourth central moment referred to as kurtosis, which measure the asymmetry and the flatness of the sample distribution respectively. They both are susceptible to outliers, so using these high-order statistics to detect anomalies may be effective. Comparison was made with a well-known anomaly detector, and results show that the proposed algorithm can effectively and reliably detect the small targets from hyperspectral images
{"title":"Anomaly Detection Based on High-order Statistics in Hyperspectral Imagery","authors":"Li Xun, Yonghua Fang","doi":"10.1109/WCICA.2006.1714044","DOIUrl":"https://doi.org/10.1109/WCICA.2006.1714044","url":null,"abstract":"According to the property of hyperspectral remote sensing data, a new anomaly detection algorithm based on high-order statistics is presented. The proposed algorithm used the augmented Lagrange multiplier (ALM) method to search for a projection that maximized the high-order statistics. They include normalized third central moment referred to as skewness and the normalized fourth central moment referred to as kurtosis, which measure the asymmetry and the flatness of the sample distribution respectively. They both are susceptible to outliers, so using these high-order statistics to detect anomalies may be effective. Comparison was made with a well-known anomaly detector, and results show that the proposed algorithm can effectively and reliably detect the small targets from hyperspectral images","PeriodicalId":375135,"journal":{"name":"2006 6th World Congress on Intelligent Control and Automation","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-10-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129724914","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 : 2006-10-23DOI: 10.1109/WCICA.2006.1713009
Li Zhang, X. Shao, Chi Zhou, Liang Gao
The degree of cooperation and level of experts become the crucial standard in computer supported collaborative design, because many decision-makers participating in the design process have different expertise and goals. Our approach is to set up a model based on decision and to seek a better algorithm for conflict resolution. This paper described conflict problem as a multi-objective decision-making optimization model, and presented the concepts of non-cooperation degree and reliability degree. Furthermore, particle swarm optimization (PSO) algorithm was employed to resolve the conflict problem. To validate its efficiency, we compared the performance of PSO with genetic algorithm (GA) by a real case of missile collaborative design. The result demonstrates the advantage and effectiveness of the model and the proposed algorithm
{"title":"Research on Conflict Resolution Method based on Particle Swarm Optimization in Collaborative Design","authors":"Li Zhang, X. Shao, Chi Zhou, Liang Gao","doi":"10.1109/WCICA.2006.1713009","DOIUrl":"https://doi.org/10.1109/WCICA.2006.1713009","url":null,"abstract":"The degree of cooperation and level of experts become the crucial standard in computer supported collaborative design, because many decision-makers participating in the design process have different expertise and goals. Our approach is to set up a model based on decision and to seek a better algorithm for conflict resolution. This paper described conflict problem as a multi-objective decision-making optimization model, and presented the concepts of non-cooperation degree and reliability degree. Furthermore, particle swarm optimization (PSO) algorithm was employed to resolve the conflict problem. To validate its efficiency, we compared the performance of PSO with genetic algorithm (GA) by a real case of missile collaborative design. The result demonstrates the advantage and effectiveness of the model and the proposed algorithm","PeriodicalId":375135,"journal":{"name":"2006 6th World Congress on Intelligent Control and Automation","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-10-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129789982","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 : 2006-10-23DOI: 10.1109/WCICA.2006.1714052
Jing Jin, Qiang Wang, Yi Shen, Jiasheng Hao
Applied to the surface rendering, the marching cubes method shows a great promise for surface extraction by using the surface configurations of a cube. But the marching cubes method has some disadvantages, that come from the use of surface configurations of cubes and further restrict the application of this method, including wrong surface production and hole generation. In the paper, we re-assign zero to vertices in the surface and one to vertices on the surface, and then improve the marching cubes algorithm by redefining the configurations for the fifteen cases of configurations proposed in marching cubes method. To evaluate the performance of the improved marching cubes method, we reconstructed the surface for MRI volume data using the improved method along with the marching cubes method. The experimental results show that the improved method can remove the disadvantages mentioned above and obtain a satisfying reconstructed surface
{"title":"An Improved Marching Cubes Method for Surface Reconstruction of Volume Data","authors":"Jing Jin, Qiang Wang, Yi Shen, Jiasheng Hao","doi":"10.1109/WCICA.2006.1714052","DOIUrl":"https://doi.org/10.1109/WCICA.2006.1714052","url":null,"abstract":"Applied to the surface rendering, the marching cubes method shows a great promise for surface extraction by using the surface configurations of a cube. But the marching cubes method has some disadvantages, that come from the use of surface configurations of cubes and further restrict the application of this method, including wrong surface production and hole generation. In the paper, we re-assign zero to vertices in the surface and one to vertices on the surface, and then improve the marching cubes algorithm by redefining the configurations for the fifteen cases of configurations proposed in marching cubes method. To evaluate the performance of the improved marching cubes method, we reconstructed the surface for MRI volume data using the improved method along with the marching cubes method. The experimental results show that the improved method can remove the disadvantages mentioned above and obtain a satisfying reconstructed surface","PeriodicalId":375135,"journal":{"name":"2006 6th World Congress on Intelligent Control and Automation","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-10-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129828762","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 : 2006-10-23DOI: 10.1109/WCICA.2006.1712883
Jianghua Guo, S. Liang, Guojun Chen
A new intelligent PID control method based on CMAC neural network (CMAC-NN) is put forward in the paper, then its architecture and arithmetic are introduced specially. Compared with traditional PID control, CMAC-PID control has many more merits. The method is applied to the control system of marine diesel speed. It uses the self-study ability of CMAC-NN and regulates the controller parameters online. The simulation results that indicate the CMAC-PID controller has a higher precision and a stronger compatibility, which can obtain satisfying control effect
{"title":"Application of CMAC Neural Network & PID Control on the Speed Control System of Diesel Engine","authors":"Jianghua Guo, S. Liang, Guojun Chen","doi":"10.1109/WCICA.2006.1712883","DOIUrl":"https://doi.org/10.1109/WCICA.2006.1712883","url":null,"abstract":"A new intelligent PID control method based on CMAC neural network (CMAC-NN) is put forward in the paper, then its architecture and arithmetic are introduced specially. Compared with traditional PID control, CMAC-PID control has many more merits. The method is applied to the control system of marine diesel speed. It uses the self-study ability of CMAC-NN and regulates the controller parameters online. The simulation results that indicate the CMAC-PID controller has a higher precision and a stronger compatibility, which can obtain satisfying control effect","PeriodicalId":375135,"journal":{"name":"2006 6th World Congress on Intelligent Control and Automation","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-10-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129856551","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 : 2006-10-23DOI: 10.1109/WCICA.2006.1712639
J. Wang, Shuyi Sun
To the nonlinear controlled objects that generally exist in industrial processes, a predictive control algorithm based on support vector machine (SVM) model was proposed. First, SVM model with RBF kernel function was constructed offline. Then, the future values of controlled variable were predicted and linearized online using the SVM model. Finally, generalized predictive control (GPC) was applied to realize control goal. The simulation proves that this method is effective
{"title":"Predictive Control Based on Support Vector Machine Model","authors":"J. Wang, Shuyi Sun","doi":"10.1109/WCICA.2006.1712639","DOIUrl":"https://doi.org/10.1109/WCICA.2006.1712639","url":null,"abstract":"To the nonlinear controlled objects that generally exist in industrial processes, a predictive control algorithm based on support vector machine (SVM) model was proposed. First, SVM model with RBF kernel function was constructed offline. Then, the future values of controlled variable were predicted and linearized online using the SVM model. Finally, generalized predictive control (GPC) was applied to realize control goal. The simulation proves that this method is effective","PeriodicalId":375135,"journal":{"name":"2006 6th World Congress on Intelligent Control and Automation","volume":"137 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-10-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128445406","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 : 2006-10-23DOI: 10.1109/WCICA.2006.1712303
M. Zhong, Q. Han
This paper deals with the problem of fault detection filter (FDF) design for a class of networked control systems under considering both the network-induced time delay and data dropout. A novel form of an observer-based hybrid FDF is introduced to be the residual generator. Under the assumption of network-induced time delay being time-varying and bounded, the FDF design problem can be transformed as an Hinfin-optimization problem for linear systems with interval time-varying delay. A delay-dependent sufficient condition is derived by using Lyapunov-Krasovskii approach and an associated solution of the problem can be obtained by solving a set of linear matrix inequalities (LMIs). A simulation example is given to demonstrate the effectiveness of the proposed method
{"title":"Fault Detection Filter Design for a Class of Networked Control Systems","authors":"M. Zhong, Q. Han","doi":"10.1109/WCICA.2006.1712303","DOIUrl":"https://doi.org/10.1109/WCICA.2006.1712303","url":null,"abstract":"This paper deals with the problem of fault detection filter (FDF) design for a class of networked control systems under considering both the network-induced time delay and data dropout. A novel form of an observer-based hybrid FDF is introduced to be the residual generator. Under the assumption of network-induced time delay being time-varying and bounded, the FDF design problem can be transformed as an Hinfin-optimization problem for linear systems with interval time-varying delay. A delay-dependent sufficient condition is derived by using Lyapunov-Krasovskii approach and an associated solution of the problem can be obtained by solving a set of linear matrix inequalities (LMIs). A simulation example is given to demonstrate the effectiveness of the proposed method","PeriodicalId":375135,"journal":{"name":"2006 6th World Congress on Intelligent Control and Automation","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-10-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128490164","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 : 2006-10-23DOI: 10.1109/WCICA.2006.1712730
Liaoying Zhao, Li Xue, Jianjun Wang
A new scheme was put forward to synchronize chaotic systems with structure or parameters mismatching. Applying nonlinear differential geometry theory, the chaotic discrepancy system was transformed into a canonical form. A feedback control for synchronization two chaotic systems is proposed based on variable structure control design. To make this controller physically realizable, an extended state observer is used to estimate the difference between the transmitter and receiver. Two illustrative examples are carried out. 1) The Chua oscillator is used to show that the synchronization is obtained and message signal is recovered in spite of parametric variations. 2) Two second-order driven oscillators are presented to show that the synchronization can be obtained and the message can be recovered in spite of strictly different model
{"title":"Variable Structure Control for Synchronization of Chaotic Systems with Structure or Parameters Mismatching","authors":"Liaoying Zhao, Li Xue, Jianjun Wang","doi":"10.1109/WCICA.2006.1712730","DOIUrl":"https://doi.org/10.1109/WCICA.2006.1712730","url":null,"abstract":"A new scheme was put forward to synchronize chaotic systems with structure or parameters mismatching. Applying nonlinear differential geometry theory, the chaotic discrepancy system was transformed into a canonical form. A feedback control for synchronization two chaotic systems is proposed based on variable structure control design. To make this controller physically realizable, an extended state observer is used to estimate the difference between the transmitter and receiver. Two illustrative examples are carried out. 1) The Chua oscillator is used to show that the synchronization is obtained and message signal is recovered in spite of parametric variations. 2) Two second-order driven oscillators are presented to show that the synchronization can be obtained and the message can be recovered in spite of strictly different model","PeriodicalId":375135,"journal":{"name":"2006 6th World Congress on Intelligent Control and Automation","volume":"76 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-10-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128611425","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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