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Framework design for reliability engineering of complex systems 复杂系统可靠性工程的框架设计
The 4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Pub Date : 2014-06-04 DOI: 10.1109/CYBER.2014.6917429
Yuansheng Lin, Daqing Li, Chaoran Liu, Rui Kang
{"title":"Framework design for reliability engineering of complex systems","authors":"Yuansheng Lin, Daqing Li, Chaoran Liu, Rui Kang","doi":"10.1109/CYBER.2014.6917429","DOIUrl":"https://doi.org/10.1109/CYBER.2014.6917429","url":null,"abstract":"Complex systems are known to show emergent, unexpected failure behaviors due to their inherent interdependency and interaction, including Internet, power grid, transportation systems and even financial systems. These complexities and the corresponding failure behaviors pose a challenge to traditional reliability engineering, since reliability of complex systems could not be comprehensively analyzed by methods such as FTA and FMECA, etc. Complex network theory is an effective and available technique to characterize the complex systems. The study on failure behaviors of complex systems combined with complex network theory will help to overcome the barriers in analyzing, calculating and improving the reliability of complex systems. A framework for the reliability engineering of complex systems is proposed in this paper, which is illustrated by an example of IEEE 14 BUS. The reliability of this typical complex system is calculated, and the vulnerable part of the system has also been identified, which can help us to improve the system reliability in terms of management and future design activities.","PeriodicalId":183401,"journal":{"name":"The 4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent","volume":"70 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127125542","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}
引用次数: 4
Obstacle avoidance method for microbiorobots using electric field control 电场控制微生物机器人避障方法
The 4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Pub Date : 2014-06-04 DOI: 10.1109/CYBER.2014.6917446
Hoyeon Kim, U. Cheang, M. J. Kim, Kyoungwoo Lee
{"title":"Obstacle avoidance method for microbiorobots using electric field control","authors":"Hoyeon Kim, U. Cheang, M. J. Kim, Kyoungwoo Lee","doi":"10.1109/CYBER.2014.6917446","DOIUrl":"https://doi.org/10.1109/CYBER.2014.6917446","url":null,"abstract":"This paper presents an obstacle-avoidance based approach for the control of MicroBioRobots (MBRs) using electric field. A MBR is an integrated cell-based robotic system, each of which consists of a SU-8 microstructure blotted with swarming bacteria. The concept of the MBR is to utilize inorganic structures as platforms to harness the collective propulsive power from the biomolecular motors of bacteria. We previously demonstrated motion control of MBRs using electric field. However, in the presence of obstacles in the workspace, the electric field can be distorted. In this paper we evaluate the distortion of electric field around obstacles and develop a motion control algorithm that takes the distortion into account. Our obstacle-avoidance method enhances the controllability of the MBRs by allowing them to avoid collision with static obstacles in real time. Artificial potential field was used in our approach to generate the objective function regarding the controllability of the MBRs under electric field. Furthermore, we use COMSOL Multiphysics engineering simulation software to model an electric field applied across the testbed to characterize distortions of the field around the boundaries of static obstacles. We demonstrate the feasibility of our obstacle avoidance algorithm through experiment and simulation.","PeriodicalId":183401,"journal":{"name":"The 4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132497505","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}
引用次数: 6
Characteristics of tangential force acting on a single lug with translational motion in sandy soil 沙土中动单凸耳的切向力特性
The 4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Pub Date : 2014-06-04 DOI: 10.1109/CYBER.2014.6917431
Yang Yang, Yi Sun, Ryohei Yamamoto, Shugen Ma
{"title":"Characteristics of tangential force acting on a single lug with translational motion in sandy soil","authors":"Yang Yang, Yi Sun, Ryohei Yamamoto, Shugen Ma","doi":"10.1109/CYBER.2014.6917431","DOIUrl":"https://doi.org/10.1109/CYBER.2014.6917431","url":null,"abstract":"Lugs (i.e., grousers) are attached on the surface of wheels/tracks of mobile robots to enhance their traveling performance for accessing loose sandy terrains. The goal of this study is to experimentally confirm the effects of velocity, sinkage length, moving direction angle and inclination angle on the tangential force acting on an actively actuated lug. Moreover, based on comparison of the measured and the calculated values by using conventional tangential stress model, we confirmed that the force acting on lug-tip surface is not negligible. Subsequently, the tangential forces were measured with a series lugs with different thickness to show influences of the thickness further.","PeriodicalId":183401,"journal":{"name":"The 4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent","volume":"617 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130445606","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}
引用次数: 0
Modular snake robot oriented open simulation software 面向模块化蛇形机器人的开放式仿真软件
The 4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Pub Date : 2014-06-04 DOI: 10.1109/CYBER.2014.6917522
J. Monsalve, J. León, Kamilo Melo
{"title":"Modular snake robot oriented open simulation software","authors":"J. Monsalve, J. León, Kamilo Melo","doi":"10.1109/CYBER.2014.6917522","DOIUrl":"https://doi.org/10.1109/CYBER.2014.6917522","url":null,"abstract":"To complement the theoretical research that exploits the locomotion capabilities of Modular Snake Robots, a large collection of tools are required to validate the models and controllers designed for that purpose. In our research, most of these validation processes require the real robot prototypes to perform experiments that are time consuming and in a variety of cases compromise the robot's mechanical structure. To overcome this last issue a simulation software arises as a tool that allows researches to face controller design processes and experimentation in a safe manner. The robot Lola-OP™, designed by our company and released as an open research platform, serves as the main virtual character for the first version of our modular snake robot simulation software. Main components of this set of simulation software tools correspond to the physics engine, the graphics engine, the environment definition and the communication module that allow the inputs to the simulator, data to be retrieved and the integration with a major control software architecture used with the real robot.","PeriodicalId":183401,"journal":{"name":"The 4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131957949","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}
引用次数: 4
SLAM-based grasping framework for robotic arm navigation and object model construction 基于slam的机械臂导航抓取框架及目标模型构建
The 4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Pub Date : 2014-06-04 DOI: 10.1109/CYBER.2014.6917453
Natchanon Wongwilai, N. Niparnan, A. Sudsang
{"title":"SLAM-based grasping framework for robotic arm navigation and object model construction","authors":"Natchanon Wongwilai, N. Niparnan, A. Sudsang","doi":"10.1109/CYBER.2014.6917453","DOIUrl":"https://doi.org/10.1109/CYBER.2014.6917453","url":null,"abstract":"A typical grasping system consists of three subtasks: object model acquisition, grasping point calculation and navigation of the robotic arm. These tasks are usually considered separately. In this paper, we present a framework that combines these steps together. Our main motivation is that as the robot are moving, new information should be obtained from the sensor and these information should be used to increase accuracy of the model of the object and the current position of the robot. In other words, our framework employs SLAM approach. We also provide several real world implementations of our framework and compare them to illustrate the benefit of our framework. In particular, we install a depth camera DepthSense DS325 on a Katana robotic arm and use this system to simulate the navigation of the robotic arm for grasping. The comparison of our implementation confirms effectiveness of our framework.","PeriodicalId":183401,"journal":{"name":"The 4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent","volume":"726 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133283115","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}
引用次数: 4
A design of fuzzy controller for conforming to the regulations of indoor air quality and thermal comfort 为了满足室内空气质量和热舒适的要求，设计了一种模糊控制器
The 4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Pub Date : 2014-06-04 DOI: 10.1109/CYBER.2014.6917494
Chih-Hung Wu, Li-Shan Ma, Chia-hung Chen, Ya-Wei Liu
{"title":"A design of fuzzy controller for conforming to the regulations of indoor air quality and thermal comfort","authors":"Chih-Hung Wu, Li-Shan Ma, Chia-hung Chen, Ya-Wei Liu","doi":"10.1109/CYBER.2014.6917494","DOIUrl":"https://doi.org/10.1109/CYBER.2014.6917494","url":null,"abstract":"Most of the time people stay in the indoor environment, so Taiwan government established indoor air quality (IAQ) regulations to protect public health and the living environment. This study defined fuzzy sets and fuzzy rules according to the national IAQ and standard ANSI/ASHRAE 55-1992. The fuzzy controller determine the operation time of air conditioner and exhaust fan to meet the national IAQ regulations and accepted thermal comfort. Using relay to switch the power of AC exhaust fan ON during operation time computed by fuzzy controller is cheaper and simpler than using variable frequency technology to control the wind velocity of AC exhaust fan. The study used exhaust fan to draw the outside cool and dried air into inside to help air conditioner to meet the standard thermal comfort quickly, so the air conditioner can decrease the operation time to save power.","PeriodicalId":183401,"journal":{"name":"The 4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129541939","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}
引用次数: 6
Design of a reconfigurable spherical robot II 一种可重构球形机器人的设计[j]
The 4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Pub Date : 2014-06-04 DOI: 10.1109/CYBER.2014.6917436
Natthaphon Bunathuek, P. Saisutjarit, Pudit Laksanacharoen
{"title":"Design of a reconfigurable spherical robot II","authors":"Natthaphon Bunathuek, P. Saisutjarit, Pudit Laksanacharoen","doi":"10.1109/CYBER.2014.6917436","DOIUrl":"https://doi.org/10.1109/CYBER.2014.6917436","url":null,"abstract":"This paper describes the design of a three-legged reconfigurable spherical robot II. The reconfigurable spherical robot II is designed with the ability to transform from a spherical shape into a configuration of two interconnected hemispheres and three legs which are kept inside the shells can be extended to provide mobility on ground. The reconfigurable spherical robot II introduced a new method of leg deployment which reduced the amount of joint torques. Each leg is designed with 4 degrees of freedom for better maneuverability. The development of a butterfly walking concept using three-legged was presented. A dynamic simulation in MATLAB has been developed to predict loads and to verify the mobility of three-legged butterfly walking concept.","PeriodicalId":183401,"journal":{"name":"The 4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent","volume":"92 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114198413","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}
引用次数: 6
Automated discrimination of gait patterns based on sEMG recognition using neural networks 基于表面肌电信号识别的神经网络步态模式自动识别
The 4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Pub Date : 2014-06-04 DOI: 10.1109/CYBER.2014.6917465
Fei Wang, Ying Peng, Yiding Yang, Peng Zhang
{"title":"Automated discrimination of gait patterns based on sEMG recognition using neural networks","authors":"Fei Wang, Ying Peng, Yiding Yang, Peng Zhang","doi":"10.1109/CYBER.2014.6917465","DOIUrl":"https://doi.org/10.1109/CYBER.2014.6917465","url":null,"abstract":"A set of schemes for automated discrimination of gait patterns based on recognition of surface electromyogram (sEMG) of human lower limbs is proposed to classify 3 different terrains and 6 different movement patterns. To compare the recognition performance of different classifiers, Back Propagation Neural Networks (BPNNs) and Process Neural Networks (PNNs) are deployed to discriminate gait patterns under different conditions. To obtain the discrete inputs to BPNNs, time-frequency parameters, wavelet variance and matrix singularity values are separately considered as the feature vector. Since PNNs can deal with time-varying functions without signal discretion or feature extraction, sEMG signal after filtering is directly fed to the neural networks to discriminate different gaits. To improve the learning efficiency and accuracy, partial swarm optimization (PSO) is used to obtain the weight parameters of PNNs. Simulations were conducted to validate the efficiencies and recognition accuracies of different neural classifiers. PNNs show good adaptability and robustness and have great potential in the application of bio-electrical signal processing.","PeriodicalId":183401,"journal":{"name":"The 4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124922536","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}
引用次数: 2
Current status and development trend on capacity credit of intermittent renewable energy 间歇性可再生能源容量信贷的现状及发展趋势
The 4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Pub Date : 2014-06-04 DOI: 10.1109/CYBER.2014.6917537
Lijuan Chen, Qiong Xu, Pingliang Zeng, Xiaohui Xu, Bingtuan Gao
{"title":"Current status and development trend on capacity credit of intermittent renewable energy","authors":"Lijuan Chen, Qiong Xu, Pingliang Zeng, Xiaohui Xu, Bingtuan Gao","doi":"10.1109/CYBER.2014.6917537","DOIUrl":"https://doi.org/10.1109/CYBER.2014.6917537","url":null,"abstract":"As the renewable energy scale increases rapidly, evaluation of intermittent energy capacity credit (IECC) is becoming one of the hottest issues in power system planning. Ignoring IECC will lead to serious waste; however, high expectations of IECC will bring risk to the reliability of power system. In order to evaluate IECC accurately, firstly, uncertainly factors on IECC are analyzed from multiple angles, and the main assessment process of IECC is presented. Based on the various IECC calculation methods of single intermittent energy, the adaptive methods of wide-scale multiple intermittent energy are put forward. Finally, improvement measures of capacity credit are advanced from aspects of multiple energy output correlation, power grid side, demand side, and energy storage. The research hotspots and developing directions are discussed.","PeriodicalId":183401,"journal":{"name":"The 4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127157332","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}
引用次数: 0
A switching formation strategy for obstacle avoidance of multi-robot system 多机器人系统避障的切换队形策略
The 4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Pub Date : 2014-06-04 DOI: 10.1109/CYBER.2014.6917507
Yanyan Dai, Sukgyu Lee, Yoon-Gu Kim, Sung-Gil Wee
{"title":"A switching formation strategy for obstacle avoidance of multi-robot system","authors":"Yanyan Dai, Sukgyu Lee, Yoon-Gu Kim, Sung-Gil Wee","doi":"10.1109/CYBER.2014.6917507","DOIUrl":"https://doi.org/10.1109/CYBER.2014.6917507","url":null,"abstract":"This paper describes a switching formation strategy for multiple robots, in order to avoid an obstacle and cross obstacles. In the strategy, a leader robot plans a safe path using geometric obstacle avoidance control method (GOACM). By calculating a new desired distance and desired bearing angle with the leader robot, the follower robots follow the leader robot, in a safe switching formation. The adaptive controller guarantees that the robot's trajectory and velocity tracking errors converge to zero with the consideration of the uncertainties in kinematic and dynamic models. The simulation results show the effectiveness of the proposed approaches.","PeriodicalId":183401,"journal":{"name":"The 4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127473485","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}
引用次数: 3
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