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2011 IEEE International Conference on Automation and Logistics (ICAL)最新文献

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Real-time joystick control and experiments of redundant manipulators using cosine-based velocity mapping 基于余弦速度映射的冗余度机械臂实时操纵杆控制与实验
2011 IEEE International Conference on Automation and Logistics (ICAL) Pub Date : 2011-09-23 DOI: 10.1109/ICAL.2011.6024740
Yunong Zhang, L. Xie, Zhijun Zhang, Kene Li, Lin Xiao
{"title":"Real-time joystick control and experiments of redundant manipulators using cosine-based velocity mapping","authors":"Yunong Zhang, L. Xie, Zhijun Zhang, Kene Li, Lin Xiao","doi":"10.1109/ICAL.2011.6024740","DOIUrl":"https://doi.org/10.1109/ICAL.2011.6024740","url":null,"abstract":"In this paper, to achieve the real-time joystick control of redundant manipulators, two schemes are proposed and investigated: one scheme is a cosine-based position-to-velocity mapping, which maps the position of the joystick in the motion range to the velocity of the robot end-effector for the real-time end-effector velocity generation; and the other is a real-time joystick-controlled motion planning (JCMP) scheme, which is based on minimum-velocity-norm (MVN) and used to resolve the velocity-assigned inverse-kinematics problem of redundant manipulators. In addition, the JCMP scheme is formulated as a standard quadratic program (QP) subject to equality and bound constraints. For the purpose of experimentation, a numerical algorithm based on piecewise-linear equations (PLE) is developed for solving the resultant QP problem. Furthermore, the proposed schemes are implemented on the planar six degrees-of-freedom (six-DOF) motor-driven push-rod robot manipulator controlled by a joystick. Computer-simulation and experiment results validate the realization and effectiveness of such schemes and the numerical algorithm.","PeriodicalId":351518,"journal":{"name":"2011 IEEE International Conference on Automation and Logistics (ICAL)","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-09-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127372497","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: 5
Design and realization for throwable semi-autonomous reconnaissance robot 抛掷式半自主侦察机器人的设计与实现
2011 IEEE International Conference on Automation and Logistics (ICAL) Pub Date : 2011-09-23 DOI: 10.1109/ICAL.2011.6024675
Liancun Zhang, Qiang Huang, Weimin Zhang, Yue Li, Yuancan Huang, Hui Li, Liying Wu
{"title":"Design and realization for throwable semi-autonomous reconnaissance robot","authors":"Liancun Zhang, Qiang Huang, Weimin Zhang, Yue Li, Yuancan Huang, Hui Li, Liying Wu","doi":"10.1109/ICAL.2011.6024675","DOIUrl":"https://doi.org/10.1109/ICAL.2011.6024675","url":null,"abstract":"Throwable miniature robots are very suitable for initiative reconnaissance and surveillance in important targets of sensitive areas. However, the throwing deployment mode of miniature mobile robots demands excellent anti-impact property. Moreover, another crucial problem resulted from the small volume of miniature robots is the difficulty of packing locomotion, sensing, computing and power subsystems into constrained space. To solve the problems above-mentioned, the design and realization for a kind of throwable semi-autonomous reconnaissance robot was presented in the paper. Moreover, Finite element simulation analysis and anti-impact experiments showed that the robot has excellent capability of anti-impact. At last, the experiments also showed that the design of the throwable semi-autonomous reconnaissance robot is reliable and practical.","PeriodicalId":351518,"journal":{"name":"2011 IEEE International Conference on Automation and Logistics (ICAL)","volume":"322 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-09-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115566702","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
Research of grading's influence on asphalt mixture's water stability 级配对沥青混合料水稳定性影响的研究
2011 IEEE International Conference on Automation and Logistics (ICAL) Pub Date : 2011-09-23 DOI: 10.1109/ICAL.2011.6024762
Weirong Huang, Tao Liu, Donglai Yang
{"title":"Research of grading's influence on asphalt mixture's water stability","authors":"Weirong Huang, Tao Liu, Donglai Yang","doi":"10.1109/ICAL.2011.6024762","DOIUrl":"https://doi.org/10.1109/ICAL.2011.6024762","url":null,"abstract":"AC-13 is selected as typical grading, and the asphalt mixture water stability test research is conducted. The influence of mineral aggregate gradation to AC-13 asphalt mixture water stability is analyzed; and the fractal theory is used to analyze the freezing and thawing split test result, then the AC-13 grading fractal dimension number value scope with good water stability is obtained. Based on those conclusions the suggestion on how to choose the surface layer asphalt mixture mineral aggregate grading in the moist and rainy area is proposed.","PeriodicalId":351518,"journal":{"name":"2011 IEEE International Conference on Automation and Logistics (ICAL)","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-09-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116014142","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: 1
Multi-rate sensor adaptive data fusion algorithm based on incomplete measurement 基于不完全测量的多速率传感器自适应数据融合算法
2011 IEEE International Conference on Automation and Logistics (ICAL) Pub Date : 2011-09-23 DOI: 10.1109/ICAL.2011.6024768
Shu-sheng Xu, Xiao-gong Lin, Ming-yu Fu, Da-wei Zhao
{"title":"Multi-rate sensor adaptive data fusion algorithm based on incomplete measurement","authors":"Shu-sheng Xu, Xiao-gong Lin, Ming-yu Fu, Da-wei Zhao","doi":"10.1109/ICAL.2011.6024768","DOIUrl":"https://doi.org/10.1109/ICAL.2011.6024768","url":null,"abstract":"This paper proposes an adaptive data fusion algorithm for a multi-rate sensor system based on incomplete measurement. The algorithm has built a method of sensor subsystem fault detection. The subsystem failure is detected and the incomplete measurement is confirmed to avoid contaminating the entire system due to the single failure. The algorithm has built the subsystem switch control and it also introduced mapping matrices. Meanwhile, the algorithm defined new information sharing coefficients. The algorithm can adaptively select subsystems for the center integration. When the incomplete measurement of the subsystem is found, the predicted value of the subfilter will displace the state estimation for the center fusion. The current state estimation and a priori value of the subfilter are used by the global fusion, and this will improve the center estimate performance. The simulation result indicates the effectiveness of the proposed algorithm.","PeriodicalId":351518,"journal":{"name":"2011 IEEE International Conference on Automation and Logistics (ICAL)","volume":"151 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-09-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127283551","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: 5
Speech control of a teleoperated mobile humanoid robot 遥控移动人形机器人的语音控制
2011 IEEE International Conference on Automation and Logistics (ICAL) Pub Date : 2011-09-23 DOI: 10.1109/ICAL.2011.6024739
Baocheng Wang, Zhijun Li, Nan Ding
{"title":"Speech control of a teleoperated mobile humanoid robot","authors":"Baocheng Wang, Zhijun Li, Nan Ding","doi":"10.1109/ICAL.2011.6024739","DOIUrl":"https://doi.org/10.1109/ICAL.2011.6024739","url":null,"abstract":"This paper introduces a mobile humanoid robot platform which is able to understand humans' speech commands in their everyday environments. For service in more complicated and varied environments, the robot must operate efficiently under active auditory perception system to ensure a coordinated human-robot system. We enhance the efficiency of the control system by developing a speech commands scheme, and integrate it into the teleoperation. In order to eliminate the time delay in the communication channel, we incorporate and modify the event-based motion control into the robot. It drives the system to achieve the best possible motion.","PeriodicalId":351518,"journal":{"name":"2011 IEEE International Conference on Automation and Logistics (ICAL)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-09-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128983577","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: 15
A new biped locomotion involving arms swing based on neural network with harmony search optimizer 基于和谐搜索优化器的神经网络的两足摆动运动
2011 IEEE International Conference on Automation and Logistics (ICAL) Pub Date : 2011-09-23 DOI: 10.1109/ICAL.2011.6024677
E. Yazdi, V. Azizi, A. Haghighat
{"title":"A new biped locomotion involving arms swing based on neural network with harmony search optimizer","authors":"E. Yazdi, V. Azizi, A. Haghighat","doi":"10.1109/ICAL.2011.6024677","DOIUrl":"https://doi.org/10.1109/ICAL.2011.6024677","url":null,"abstract":"This paper deals with a novel model free approach composed of coupled adaptive nonlinear and linear oscillators with emphasis on make robot's walking more stable and faster. In this regard Matsuoka neural oscillators have been used to generate control signals to control the locomotion of a humanoid robot. To reach smoother walking and increase speed and robustness, the current system controls roll of arms during locomotion. To find the best angular trajectory and optimize neural oscillator parameters, a new population-based search algorithm, called the Harmony Search (HS) algorithm, has been used. We implement the method on the simulated NAO robot that has been implemented in Robocup 3D soccer simulation environment. Simulation Results show that using from hands during walking can make walking fast and robustness and also, harmony search algorithm is fast in convergence.","PeriodicalId":351518,"journal":{"name":"2011 IEEE International Conference on Automation and Logistics (ICAL)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-09-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127974708","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: 7
Active pendulation control system for the underactuated davit 欠驱动悬架的主动摆控系统
2011 IEEE International Conference on Automation and Logistics (ICAL) Pub Date : 2011-09-23 DOI: 10.1109/ICAL.2011.6024731
L. Liang, Hongyu Shi, Chunyang Wang, Jiguang Song, Tian-Huei Wu
{"title":"Active pendulation control system for the underactuated davit","authors":"L. Liang, Hongyu Shi, Chunyang Wang, Jiguang Song, Tian-Huei Wu","doi":"10.1109/ICAL.2011.6024731","DOIUrl":"https://doi.org/10.1109/ICAL.2011.6024731","url":null,"abstract":"This paper considers an active control system that reduces pendulation of suspended loads for the underactuated characteristic of the three-dimensional davit system. The dynamic model is established with the Lagrange equation and the anti-swing controller of davit system is designed based on the system's energy. Compared with other anti-swing controllers of the marine davit, it adopts active pendulation control and doesn't need approximately decoupling and linearization. And it still can restrain pendulation of load effectively, even though the mass of load and the length of cable are uncertain. The stability of closed-loop system is proved by Lyapunov stability theory and LaSalle invariance principle. Simulation results demonstrate that the active pendulation control system is effective.","PeriodicalId":351518,"journal":{"name":"2011 IEEE International Conference on Automation and Logistics (ICAL)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-09-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121534499","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
Position control of ball and plate system based on switching mechanism 基于开关机构的球板系统位置控制
2011 IEEE International Conference on Automation and Logistics (ICAL) Pub Date : 2011-09-23 DOI: 10.1109/ICAL.2011.6024719
Fei Zheng, Xiaoli Li, Shangjun Wang, Dawei Ding
{"title":"Position control of ball and plate system based on switching mechanism","authors":"Fei Zheng, Xiaoli Li, Shangjun Wang, Dawei Ding","doi":"10.1109/ICAL.2011.6024719","DOIUrl":"https://doi.org/10.1109/ICAL.2011.6024719","url":null,"abstract":"According to the dynamic characteristics of the ball and plate system, the mathematical model and the corresponding simplified model are derived, and the analysis of the applications of different types of PID controllers is given. Based on the result of the analysis about different controllers, the controller by using switching mechanism is proposed for position control of the ball and plate system. Finally, all these algorithms are tested on the GPB2001 ball and plate system experimental platform. The studying by experiment shows that the effect of switching control is better than conventional PID control.","PeriodicalId":351518,"journal":{"name":"2011 IEEE International Conference on Automation and Logistics (ICAL)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-09-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125132245","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: 9
On the LVI-based numerical method (E47 algorithm) for solving quadratic programming problems 基于lvi的求解二次规划问题的数值方法(E47算法)
2011 IEEE International Conference on Automation and Logistics (ICAL) Pub Date : 2011-09-23 DOI: 10.1109/ICAL.2011.6024697
Yunong Zhang, Senbo Fu, Zhijun Zhang, Lin Xiao, Xuezhong Li
{"title":"On the LVI-based numerical method (E47 algorithm) for solving quadratic programming problems","authors":"Yunong Zhang, Senbo Fu, Zhijun Zhang, Lin Xiao, Xuezhong Li","doi":"10.1109/ICAL.2011.6024697","DOIUrl":"https://doi.org/10.1109/ICAL.2011.6024697","url":null,"abstract":"In this paper, a numerical method (termed, E47 algorithm) based on linear variational inequalities (LVI) is presented and investigated to solve quadratic programming (QP) problems which are simultaneously subject to linear equality, inequality and bound constraints. Note that such constrained QP problems can be equivalent to linear variational inequalities and then to piecewise-linear projection equations (PLPE). The E47 algorithm is then adapted to solving the resultant PLPE, and thus the optimal numerical solutions to the QP problems are obtained. In addition, the global linear convergence of such an E47 algorithm is proved. The numerical comparison results between such an E47 algorithm and the active set algorithm are further provided. The efficacy and superiority of the presented E47 algorithm for QP solving are substantiated.","PeriodicalId":351518,"journal":{"name":"2011 IEEE International Conference on Automation and Logistics (ICAL)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-09-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131542929","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: 17
Production planning in dynamic cellular manufacturing system using optimization of cell reconfiguration planning time horizon with uncertain demand 需求不确定情况下基于单元重构规划时间范围优化的动态元胞制造系统生产规划
2011 IEEE International Conference on Automation and Logistics (ICAL) Pub Date : 2011-09-23 DOI: 10.1109/ICAL.2011.6024764
Wan-Ling Li, Leyi Hu, T. Murata
{"title":"Production planning in dynamic cellular manufacturing system using optimization of cell reconfiguration planning time horizon with uncertain demand","authors":"Wan-Ling Li, Leyi Hu, T. Murata","doi":"10.1109/ICAL.2011.6024764","DOIUrl":"https://doi.org/10.1109/ICAL.2011.6024764","url":null,"abstract":"This paper presents a mathematical model for solving a production planning (PP) problem in dynamic cell manufacturing system (DCMS) with uncertain demand. One of the characteristics of the DCMS is the reconfiguration, which is the number of machines in each manufacturing cell is allowed to change over a particular planning horizon. Consequently, the DCMS is more flexible, but complicated in determining an optimal solution, especially with the uncertain demand that confuses the accuracy of the optimization in traditional way. Therefore optimal planning time horizon is introduced as a distinguishing decision variable to handle the penalty from the uncertainty of the demand. The developed model is mixed integer non-linear equations. Numerical example is presented to show the performance of the method, where traditional DCMSs PP is employed for comparison. Improvement rate map has been drawn to illustrate the benefit zone for new method.","PeriodicalId":351518,"journal":{"name":"2011 IEEE International Conference on Automation and Logistics (ICAL)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-09-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114817566","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
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