Pub Date : 2017-08-01DOI: 10.1109/COASE.2017.8256310
Chaoke Guo, Kaiyan Yu, Yongbin Gong, J. Yi
Surface cracks exist in many civil infrastructures such as road and bridge deck surfaces, parking lots, and building surfaces, etc. To prevent the crack growth and further deterioration, it is necessary to fill these cracks with appropriate materials on time. We present a robotic crack filling system that can effectively and efficiently deliver fluidic repairing materials to fill surface cracks. Motion planning and cracking filling control are the two main tasks presented in this paper. We present a graph-based crack coverage (GCC) algorithm to solve motion planning problem. The filling motion control is captured by a model predictive control (MPC) scheme given the mobile platform trajectory. We also develop a crack-filling robotic prototype. Simulation and experimental results are presented to demonstrate the system design and performance evaluation.
{"title":"Optimal motion planning and control of a crack filling robot for civil infrastructure automation","authors":"Chaoke Guo, Kaiyan Yu, Yongbin Gong, J. Yi","doi":"10.1109/COASE.2017.8256310","DOIUrl":"https://doi.org/10.1109/COASE.2017.8256310","url":null,"abstract":"Surface cracks exist in many civil infrastructures such as road and bridge deck surfaces, parking lots, and building surfaces, etc. To prevent the crack growth and further deterioration, it is necessary to fill these cracks with appropriate materials on time. We present a robotic crack filling system that can effectively and efficiently deliver fluidic repairing materials to fill surface cracks. Motion planning and cracking filling control are the two main tasks presented in this paper. We present a graph-based crack coverage (GCC) algorithm to solve motion planning problem. The filling motion control is captured by a model predictive control (MPC) scheme given the mobile platform trajectory. We also develop a crack-filling robotic prototype. Simulation and experimental results are presented to demonstrate the system design and performance evaluation.","PeriodicalId":445441,"journal":{"name":"2017 13th IEEE Conference on Automation Science and Engineering (CASE)","volume":"97 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122885248","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 : 2017-08-01DOI: 10.1109/COASE.2017.8256273
Tongshun Liu, K. Zhu
The intelligent tool wear monitoring is of great importance to improve the milling precision and efficiency. In traditional intelligent tool wear monitoring methods, features used to indicate tool wear always vary with cutting conditions and hence not applicable in cutting condition-varying cases. In this paper, a cutting condition robust milling tool wear monitoring method is proposed. In the method, the irregularity of cutting force is measured by fractal dimension and then utilized to indicate the tool wear level. Experiments of tool wear monitoring are conducted for high speed CNC manufacturing. The simulation results show that the proposed fractal dimension of cutting force is capable to indicate tool wear level and robust to cutting conditions.
{"title":"Intelligent robust milling tool wear monitoring via fractal analysis of cutting force","authors":"Tongshun Liu, K. Zhu","doi":"10.1109/COASE.2017.8256273","DOIUrl":"https://doi.org/10.1109/COASE.2017.8256273","url":null,"abstract":"The intelligent tool wear monitoring is of great importance to improve the milling precision and efficiency. In traditional intelligent tool wear monitoring methods, features used to indicate tool wear always vary with cutting conditions and hence not applicable in cutting condition-varying cases. In this paper, a cutting condition robust milling tool wear monitoring method is proposed. In the method, the irregularity of cutting force is measured by fractal dimension and then utilized to indicate the tool wear level. Experiments of tool wear monitoring are conducted for high speed CNC manufacturing. The simulation results show that the proposed fractal dimension of cutting force is capable to indicate tool wear level and robust to cutting conditions.","PeriodicalId":445441,"journal":{"name":"2017 13th IEEE Conference on Automation Science and Engineering (CASE)","volume":"59 5","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132532718","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 : 2017-08-01DOI: 10.1109/COASE.2017.8256309
Monica Abarca, Carlos Saito, A. Angulo, J. A. Paredes, F. Cuéllar
This paper describes the design of a hexacopter platform for air quality measurement purposes outfitted with gear that allows it to fly at altitudes up to 5000 meters above sea level (MASL). The multicopter is equipped with sensing technology to monitor the quality of the air, thus, presenting itself as a portable and easy-to-position in 3-dimensional environments alternative to high-cost static monitoring stations. Aside from the design considerations regarded to allow the aircraft to fly at high altitudes, a methodology is presented to describe the process concerning air quality data acquisition. This work features an analysis of the performance of the hexacopter by scrutinizing data from flight tests held at high-altitude and sea level locations and an analysis of results from the values obtained by the drone's low-cost sensors, which are compared against the data obtained from professional equipment certified by the EPA (Environmental Protection Agency of United States) from SENAMHI, the local regulatory entity in Peru.
{"title":"Design and development of an hexacopter for air quality monitoring at high altitudes","authors":"Monica Abarca, Carlos Saito, A. Angulo, J. A. Paredes, F. Cuéllar","doi":"10.1109/COASE.2017.8256309","DOIUrl":"https://doi.org/10.1109/COASE.2017.8256309","url":null,"abstract":"This paper describes the design of a hexacopter platform for air quality measurement purposes outfitted with gear that allows it to fly at altitudes up to 5000 meters above sea level (MASL). The multicopter is equipped with sensing technology to monitor the quality of the air, thus, presenting itself as a portable and easy-to-position in 3-dimensional environments alternative to high-cost static monitoring stations. Aside from the design considerations regarded to allow the aircraft to fly at high altitudes, a methodology is presented to describe the process concerning air quality data acquisition. This work features an analysis of the performance of the hexacopter by scrutinizing data from flight tests held at high-altitude and sea level locations and an analysis of results from the values obtained by the drone's low-cost sensors, which are compared against the data obtained from professional equipment certified by the EPA (Environmental Protection Agency of United States) from SENAMHI, the local regulatory entity in Peru.","PeriodicalId":445441,"journal":{"name":"2017 13th IEEE Conference on Automation Science and Engineering (CASE)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132543343","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 : 2017-08-01DOI: 10.1109/COASE.2017.8256218
Jianhong Zou, Qianchuan Zhao
Detection of occupancy in the elevator car is becoming increasingly important because the elevator control system relies the real-time data on occupancy to avoid overload, improve comfort and reduce energy consumption. This paper focuses on detection of occupancy of elevator car in the video scenes in oblique views. We propose an occupancy detection method fusing analysis of dual synchronous videos captured by two cameras installed inside and outside the elevator, respectively. One video is used to detect the absolute value of occupancy by the duration of full opening state of the elevator door. The other video is used to solve the coefficient of the occupancy by the change of foreground areas before and after the elevator door is opened. The absolute value and the coefficient jointly determines occupancy measurement. The experimental result verifies the effectiveness of our method and the correctness reaches up to 91.7%, exceeding that of the traditional method based on pixel statistics in the connected area. This method may contribute to the elevator control system after it is integrated with the video surveillance system.
{"title":"Occupancy detection in elevator car by fusing analysis of dual videos","authors":"Jianhong Zou, Qianchuan Zhao","doi":"10.1109/COASE.2017.8256218","DOIUrl":"https://doi.org/10.1109/COASE.2017.8256218","url":null,"abstract":"Detection of occupancy in the elevator car is becoming increasingly important because the elevator control system relies the real-time data on occupancy to avoid overload, improve comfort and reduce energy consumption. This paper focuses on detection of occupancy of elevator car in the video scenes in oblique views. We propose an occupancy detection method fusing analysis of dual synchronous videos captured by two cameras installed inside and outside the elevator, respectively. One video is used to detect the absolute value of occupancy by the duration of full opening state of the elevator door. The other video is used to solve the coefficient of the occupancy by the change of foreground areas before and after the elevator door is opened. The absolute value and the coefficient jointly determines occupancy measurement. The experimental result verifies the effectiveness of our method and the correctness reaches up to 91.7%, exceeding that of the traditional method based on pixel statistics in the connected area. This method may contribute to the elevator control system after it is integrated with the video surveillance system.","PeriodicalId":445441,"journal":{"name":"2017 13th IEEE Conference on Automation Science and Engineering (CASE)","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133344544","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 : 2017-08-01DOI: 10.1109/COASE.2017.8256160
Dohyeung Kim, R. Voyles
As a result of advances in technology, systems have grown more and more complex, leading to greater opportunities for failure. System fault has become an increasingly significant threat to the reliability and fault tolerance of automation systems. Redundancy of components within the system is one popular method for enhancing fault tolerance. One of the simple and effective methods for fault tolerance that has stood the test of time is Triple Modular Redundancy, which provides not one redundant copy of a critical system component, but two extra copies for a total of three. Ironically, providing three copies of a sensor, for example, only provides tolerance to one failure. It takes four copies to provide resilience to a double-point failure, but this can be expensive in terms of the cost of sensors and installation, wiring, and interface circuitry. We propose Quadruple Adaptive Redundancy, a new method that adds software-based estimation techniques, rather than additional hardware components, to achieve higher levels of robustness with virtually no incremental cost. In this paper, the performance of Quadruple Adaptive Redundancy is verified through computer simulations and compared to Triple Modular Redundancy with one and two induced sensor failures.
{"title":"Quadruple adaptive redundancy with fault detection estimator","authors":"Dohyeung Kim, R. Voyles","doi":"10.1109/COASE.2017.8256160","DOIUrl":"https://doi.org/10.1109/COASE.2017.8256160","url":null,"abstract":"As a result of advances in technology, systems have grown more and more complex, leading to greater opportunities for failure. System fault has become an increasingly significant threat to the reliability and fault tolerance of automation systems. Redundancy of components within the system is one popular method for enhancing fault tolerance. One of the simple and effective methods for fault tolerance that has stood the test of time is Triple Modular Redundancy, which provides not one redundant copy of a critical system component, but two extra copies for a total of three. Ironically, providing three copies of a sensor, for example, only provides tolerance to one failure. It takes four copies to provide resilience to a double-point failure, but this can be expensive in terms of the cost of sensors and installation, wiring, and interface circuitry. We propose Quadruple Adaptive Redundancy, a new method that adds software-based estimation techniques, rather than additional hardware components, to achieve higher levels of robustness with virtually no incremental cost. In this paper, the performance of Quadruple Adaptive Redundancy is verified through computer simulations and compared to Triple Modular Redundancy with one and two induced sensor failures.","PeriodicalId":445441,"journal":{"name":"2017 13th IEEE Conference on Automation Science and Engineering (CASE)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133766237","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 : 2017-08-01DOI: 10.1109/COASE.2017.8256074
Florens Wasserfall, N. Hendrich, Jianwei Zhang
Adaptively computing the layer heights for 3D-printed parts has the potential to achieve high quality results while maintaining a reasonably short printing time. The basic concept, several error measures and variations of the algorithm have been around in the literature for two decades now, but never showed significant impact on widely used slicing software. Users of our early test implementations reported two major drawbacks of the existing approaches: the control measures are not intuitively usable and the resulting height distribution in many cases is not optimal for an object, requiring extensive post-editing. In this paper, we propose a more intuitive control measure and implementation based on the volumetric surface error and a subsequent manual refinement of layer heights by manipulating an interpolated height-curve. We describe the efficient computation of adaptive layers by analyzing the model surface over the full layer height. All implementations are available as ready-to-use open source software.
{"title":"Adaptive slicing for the FDM process revisited","authors":"Florens Wasserfall, N. Hendrich, Jianwei Zhang","doi":"10.1109/COASE.2017.8256074","DOIUrl":"https://doi.org/10.1109/COASE.2017.8256074","url":null,"abstract":"Adaptively computing the layer heights for 3D-printed parts has the potential to achieve high quality results while maintaining a reasonably short printing time. The basic concept, several error measures and variations of the algorithm have been around in the literature for two decades now, but never showed significant impact on widely used slicing software. Users of our early test implementations reported two major drawbacks of the existing approaches: the control measures are not intuitively usable and the resulting height distribution in many cases is not optimal for an object, requiring extensive post-editing. In this paper, we propose a more intuitive control measure and implementation based on the volumetric surface error and a subsequent manual refinement of layer heights by manipulating an interpolated height-curve. We describe the efficient computation of adaptive layers by analyzing the model surface over the full layer height. All implementations are available as ready-to-use open source software.","PeriodicalId":445441,"journal":{"name":"2017 13th IEEE Conference on Automation Science and Engineering (CASE)","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133926018","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 : 2017-08-01DOI: 10.1109/COASE.2017.8256141
V. Vijayaraghavan, Kiavash Kianfar, Yu Ding, H. Parsaei
Linear models have been successfully used to establish the connections between sensor measurements and system states in sensor networks. Finding the degree of redundancy for structured linear systems is proven to be NP-hard. Previously bound-and-decompose, 0–1 mixed integer programming and hybrid algorithms embedding 0–1 mixed integer feasibility checking within a bound-and-decompose framework have all been proposed and compared in the literature. In this paper, we exploit the computational efficiency of linear programs to present a novel heuristic algorithm which solves a series of l1-norm minimization problems in a specific framework to find extremely good solutions to this problem in remarkably small runtime.
{"title":"An L1-minimization based algorithm to measure the redundancy of state estimators in large sensor systems","authors":"V. Vijayaraghavan, Kiavash Kianfar, Yu Ding, H. Parsaei","doi":"10.1109/COASE.2017.8256141","DOIUrl":"https://doi.org/10.1109/COASE.2017.8256141","url":null,"abstract":"Linear models have been successfully used to establish the connections between sensor measurements and system states in sensor networks. Finding the degree of redundancy for structured linear systems is proven to be NP-hard. Previously bound-and-decompose, 0–1 mixed integer programming and hybrid algorithms embedding 0–1 mixed integer feasibility checking within a bound-and-decompose framework have all been proposed and compared in the literature. In this paper, we exploit the computational efficiency of linear programs to present a novel heuristic algorithm which solves a series of l1-norm minimization problems in a specific framework to find extremely good solutions to this problem in remarkably small runtime.","PeriodicalId":445441,"journal":{"name":"2017 13th IEEE Conference on Automation Science and Engineering (CASE)","volume":"57 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132535574","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 : 2017-08-01DOI: 10.1109/COASE.2017.8256231
Nafiul Rashid, Jiang Wan, G. Quirós, A. Canedo, M. A. Faruque
Securing cyber-physical systems (CPS) is an active area of research. For example, manufacturing and military CPS have been traditionally designed without an emphasis on cybersecurity. This paper presents a model-based secure-by-design approach for modeling and simulating the cybersecurity aspects of CPS. We demonstrate our systematic approach by modeling several classes of cyberattacks that may affect the normal operations of CPS, and evaluate the impact of these attacks on the system through the use of simulation. We follow a functional modeling approach that may reduce the engineering effort and increase the quality of the developed system, while also increasing the resilience of the system when exposed to cyberattacks.
{"title":"Modeling and simulation of cyberattacks for resilient cyber-physical systems","authors":"Nafiul Rashid, Jiang Wan, G. Quirós, A. Canedo, M. A. Faruque","doi":"10.1109/COASE.2017.8256231","DOIUrl":"https://doi.org/10.1109/COASE.2017.8256231","url":null,"abstract":"Securing cyber-physical systems (CPS) is an active area of research. For example, manufacturing and military CPS have been traditionally designed without an emphasis on cybersecurity. This paper presents a model-based secure-by-design approach for modeling and simulating the cybersecurity aspects of CPS. We demonstrate our systematic approach by modeling several classes of cyberattacks that may affect the normal operations of CPS, and evaluate the impact of these attacks on the system through the use of simulation. We follow a functional modeling approach that may reduce the engineering effort and increase the quality of the developed system, while also increasing the resilience of the system when exposed to cyberattacks.","PeriodicalId":445441,"journal":{"name":"2017 13th IEEE Conference on Automation Science and Engineering (CASE)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134401905","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 : 2017-08-01DOI: 10.1109/COASE.2017.8256172
Xingxing Hao, Jing Liu, Zhenkun Wang
The multi-objective evolutionary algorithm based on decomposition (MOEA/D) decomposes a multi-objective optimization problem into a number of single scalar optimization problems and solves them simultaneously. The replacement strategy employed in MOEA/D has significant effects in terms of balancing convergence and diversity. In this paper, the effectiveness of MOEA/D with global replacement (GR) scheme is first investigated on many-objective knapsack problems. Then, we propose an improved version of GR, which is denoted as IGR, for the situation of adopting the utopian point as the reference point in MOEA/D. The experimental results on knapsack problems with 2, 4, 6, and 8 objectives illustrate that the GR scheme outperforms the original MOEA/D adopting the ideal point as the reference point and the IGR scheme outperforms the original MOEA/D adopting the utopian point as the reference point.
{"title":"An improved global replacement strategy for MOEA/D on many-objective kanpsack problems","authors":"Xingxing Hao, Jing Liu, Zhenkun Wang","doi":"10.1109/COASE.2017.8256172","DOIUrl":"https://doi.org/10.1109/COASE.2017.8256172","url":null,"abstract":"The multi-objective evolutionary algorithm based on decomposition (MOEA/D) decomposes a multi-objective optimization problem into a number of single scalar optimization problems and solves them simultaneously. The replacement strategy employed in MOEA/D has significant effects in terms of balancing convergence and diversity. In this paper, the effectiveness of MOEA/D with global replacement (GR) scheme is first investigated on many-objective knapsack problems. Then, we propose an improved version of GR, which is denoted as IGR, for the situation of adopting the utopian point as the reference point in MOEA/D. The experimental results on knapsack problems with 2, 4, 6, and 8 objectives illustrate that the GR scheme outperforms the original MOEA/D adopting the ideal point as the reference point and the IGR scheme outperforms the original MOEA/D adopting the utopian point as the reference point.","PeriodicalId":445441,"journal":{"name":"2017 13th IEEE Conference on Automation Science and Engineering (CASE)","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132139782","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 : 2017-08-01DOI: 10.1109/COASE.2017.8256306
Bo Xia, Gang Li, Shuang Yang, Xueqian Wang, Bin Liang
This paper aims at solving the stable control issue of the free-flying space robot with an object when the orientation of space base is controlled but the position is out of control using the virtual decomposition control (VDC). According to the VDC principle, the entire system is conceptually divided into such subsystems: the object, the space base, the manipulator, the reaction wheel and the massless virtual manipulator. The last term is designed to solve the nonholonomic constraints of the whole system. Based on the mathematical model of the entire system, kinematics and dynamics of every subsystem from the object to the space base are analyzed. A virtual decomposition controller of each subsystem is simultaneously designed, and this controller and the corresponding subsystem structure a control subsystem of the whole robot. All subsystem controllers constitute the controller of the entire robot system, and the combination of this controller and the robot system is the virtual decomposition control system of this robot. Then it takes two steps to achieve its stability analysis — the virtual stability of each control subsystem and the stability analysis of the whole control system. Finally, the VDC system of the free-flying space robot with an object is simulated. Simulation results show that the VDC system is stable and effective.
{"title":"Research on virtual decomposition control of free-flying space robot with an object under nonholonomic constraints","authors":"Bo Xia, Gang Li, Shuang Yang, Xueqian Wang, Bin Liang","doi":"10.1109/COASE.2017.8256306","DOIUrl":"https://doi.org/10.1109/COASE.2017.8256306","url":null,"abstract":"This paper aims at solving the stable control issue of the free-flying space robot with an object when the orientation of space base is controlled but the position is out of control using the virtual decomposition control (VDC). According to the VDC principle, the entire system is conceptually divided into such subsystems: the object, the space base, the manipulator, the reaction wheel and the massless virtual manipulator. The last term is designed to solve the nonholonomic constraints of the whole system. Based on the mathematical model of the entire system, kinematics and dynamics of every subsystem from the object to the space base are analyzed. A virtual decomposition controller of each subsystem is simultaneously designed, and this controller and the corresponding subsystem structure a control subsystem of the whole robot. All subsystem controllers constitute the controller of the entire robot system, and the combination of this controller and the robot system is the virtual decomposition control system of this robot. Then it takes two steps to achieve its stability analysis — the virtual stability of each control subsystem and the stability analysis of the whole control system. Finally, the VDC system of the free-flying space robot with an object is simulated. Simulation results show that the VDC system is stable and effective.","PeriodicalId":445441,"journal":{"name":"2017 13th IEEE Conference on Automation Science and Engineering (CASE)","volume":"53 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132365182","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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