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The kinematics solution and error analysis of a type of Mobile Parallel Robot (MPR) 一类移动并联机器人(MPR)的运动学求解及误差分析
2011 IEEE International Conference on Automation and Logistics (ICAL) Pub Date : 2011-09-23 DOI: 10.1109/ICAL.2011.6024696
Jicheng Li, Weiwei Lu, Ying Hu, Jianwei Zhang
{"title":"The kinematics solution and error analysis of a type of Mobile Parallel Robot (MPR)","authors":"Jicheng Li, Weiwei Lu, Ying Hu, Jianwei Zhang","doi":"10.1109/ICAL.2011.6024696","DOIUrl":"https://doi.org/10.1109/ICAL.2011.6024696","url":null,"abstract":"The Mobile Parallel Robot (MPR) is a new type of robot which integrates the mechanical characteristics of Mobile Robot and Parallel Robot. It can adjust position and orientation to suit to many special situations. This paper firstly analyzes the kinematics characteristics of MPR, including the inverse kinematics and the forward kinematics using analytic method. A motion simulation based on COSMOSMotion is given to illustrate the kinematic solutions are right. After analyzing the main error sources, we set up a completed error model. Then, we give the error detecting and error compensating method to increase the precision of MPR. To certificate the result, an experiment with vision system is done to illustrate that the mechanical characteristics meet the precision and MPR is a good supporting body to integrate more useful functions.","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":"132577660","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
A practical guideline to control structure selection for MIMO processes MIMO过程控制结构选择的实用指南
2011 IEEE International Conference on Automation and Logistics (ICAL) Pub Date : 2011-09-23 DOI: 10.1109/ICAL.2011.6024752
Yunhui Luo, Hongbo Liu, L. Jia, W. Cai
{"title":"A practical guideline to control structure selection for MIMO processes","authors":"Yunhui Luo, Hongbo Liu, L. Jia, W. Cai","doi":"10.1109/ICAL.2011.6024752","DOIUrl":"https://doi.org/10.1109/ICAL.2011.6024752","url":null,"abstract":"This paper dedicates to developing a unified framework for control structure selection for multi-input multi-output (MIMO) processes. Five basic types of MIMO PID control structure are abstracted including decentralized control, sparse control, and decoupling control with/without decoupling compensator. Based on a novel interaction index calculated via relative normalized gain, loop interactions are evaluated directly from the process transfer function, and then a practical algorithm is given to determine which control structure should be selected. The proposed methodology can be used as a guideline for PID control system design, and it is readily available to industrial practitioners. Simulation results demonstrate its effectiveness.","PeriodicalId":351518,"journal":{"name":"2011 IEEE International Conference on Automation and Logistics (ICAL)","volume":"38 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":"133129862","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
The development approaches and research of uniform rules language designer 统一规则语言设计器的开发方法与研究
2011 IEEE International Conference on Automation and Logistics (ICAL) Pub Date : 2011-09-23 DOI: 10.1109/ICAL.2011.6024743
Gehao Lu, Wei Guo, Jinyan Li, Chaofan Wu
{"title":"The development approaches and research of uniform rules language designer","authors":"Gehao Lu, Wei Guo, Jinyan Li, Chaofan Wu","doi":"10.1109/ICAL.2011.6024743","DOIUrl":"https://doi.org/10.1109/ICAL.2011.6024743","url":null,"abstract":"This paper introduces a plug-in (Visual uniform rules designer) design that is deemed necessary to allow computer programmers to design business rules in eclipse so that the rules generated can work in different rule engines. The version of the application has been used as a case study and it has been applied successfully in a local Logistics management project In this paper, the eclipse is used to develop the plug-in based on related XML and eclipse plug-in library. The method is that some XML schema are created and then a middle converter converts the XML files, including the graphical rules notation that has been designed in eclipse, to the corresponding rules files. Such transformation can help XML based rules work in various rule engines. The paper first briefly review relevant aspects of eclipse and XML Then the design process, test, results and discussion are presented.","PeriodicalId":351518,"journal":{"name":"2011 IEEE International Conference on Automation and Logistics (ICAL)","volume":"22 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":"115052914","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
Virtual reconstruction of crack with genetic algorithm and B-spline curve in bridge remote monitoring 基于遗传算法和b样条曲线的桥梁远程监测裂缝虚拟重构
2011 IEEE International Conference on Automation and Logistics (ICAL) Pub Date : 2011-09-23 DOI: 10.1109/ICAL.2011.6024734
Guo Yan, L. Tang, Benniu Zhang
{"title":"Virtual reconstruction of crack with genetic algorithm and B-spline curve in bridge remote monitoring","authors":"Guo Yan, L. Tang, Benniu Zhang","doi":"10.1109/ICAL.2011.6024734","DOIUrl":"https://doi.org/10.1109/ICAL.2011.6024734","url":null,"abstract":"Smart film that was proposed in 2010 may monitor cracks of concrete bridges remotely and automatically. In the method, virtual reconstruction of crack plays an important role in providing intuitive foundations for bridge maintenance. Original crack data implies crucial information, while previous reconstruction is considered simply. In this paper, we redesign the method basing on B-spline curve optimized by using Genetic Algorithm (GA). Three steps are adopted to optimize the parameter vector and the number of control points of B-spline: (1) Build initial population model according to General Parameter Model (GPM); (2) Construct • tness function on the basis of sum square error; (3) Discuss the probability of crossover and mutation of GA. Compared with the methods of direct point connections and least-squares fit of B-spline without optimizing, results show that the novel method can achieve satisfactory fitting curves of crack. It is helpful to analysis the state stress of concrete structure, and to predict the cracking direction. It is also proved to be feasible and to have underlying using value for bridge remote monitoring.","PeriodicalId":351518,"journal":{"name":"2011 IEEE International Conference on Automation and Logistics (ICAL)","volume":"42 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":"116730084","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
Design of robust non-fragile H∞ fault detection filter for uncertain Delta operator systems 不确定算子系统鲁棒非脆弱H∞故障检测滤波器设计
2011 IEEE International Conference on Automation and Logistics (ICAL) Pub Date : 2011-09-23 DOI: 10.1109/ICAL.2011.6024756
Ruiquan Lin, Tao Huang, Chunying Wang
{"title":"Design of robust non-fragile H∞ fault detection filter for uncertain Delta operator systems","authors":"Ruiquan Lin, Tao Huang, Chunying Wang","doi":"10.1109/ICAL.2011.6024756","DOIUrl":"https://doi.org/10.1109/ICAL.2011.6024756","url":null,"abstract":"A sufficient condition for the existence of the robust non-fragile H∞ fault detection filter is presented, based on linear matrix inequality (LMI) method, while considering the parameters' uncertainty of the Delta-operator-formulated systems, and the additive norm-bounded variations characteristic of the fault detection filter. A numerical simulation is applied to prove the effectiveness of the designed method. The results show that when the robust non-fragile H∞ fault detection filter is designed, it is necessary to consider the uncertainties of the filter parameters.","PeriodicalId":351518,"journal":{"name":"2011 IEEE International Conference on Automation and Logistics (ICAL)","volume":"49 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":"115390689","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 fuzzy decision based intelligent QoS multicast routing algorithm 一种基于模糊决策的智能QoS组播路由算法
2011 IEEE International Conference on Automation and Logistics (ICAL) Pub Date : 2011-09-23 DOI: 10.1109/ICAL.2011.6024705
Junwei Wang, Zhaoxia Wu
{"title":"A fuzzy decision based intelligent QoS multicast routing algorithm","authors":"Junwei Wang, Zhaoxia Wu","doi":"10.1109/ICAL.2011.6024705","DOIUrl":"https://doi.org/10.1109/ICAL.2011.6024705","url":null,"abstract":"Multicast with QoS (Quality of Service) is regarded as a promising solution for group multimedia applications in NGI (Next Generation Internet). Due to the characteristics of difficulty on exact measurement and complete expression of network parameters, a flexible QoS multicast routing algorithm based on Artificial Fish Swarm (AFS) algorithm is presented with introduction of principle of fuzzy mathematics. The corresponding model and its mathematical description are introduced. Under inaccurate information of QoS parameters and users' flexible QoS constraints, the proposed algorithm tries to find the multicast tree with maximum reliability degree and user's QoS satisfaction degree. Simulation results have shown that the proposed algorithm provides an available approach to QoS Multicast routing in networks environment with uncertain parameters.","PeriodicalId":351518,"journal":{"name":"2011 IEEE International Conference on Automation and Logistics (ICAL)","volume":"38 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":"116534444","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
A review of the adoption of supply chain management in construction 供应链管理在建筑业中的应用综述
2011 IEEE International Conference on Automation and Logistics (ICAL) Pub Date : 2011-09-23 DOI: 10.1109/ICAL.2011.6024709
Rui Zhang, Dehua Li
{"title":"A review of the adoption of supply chain management in construction","authors":"Rui Zhang, Dehua Li","doi":"10.1109/ICAL.2011.6024709","DOIUrl":"https://doi.org/10.1109/ICAL.2011.6024709","url":null,"abstract":"This paper presents a review of the research about the application process of supply chain management in construction. Based on the fundamental concepts and characteristics, this paper investigates pre-conditions, limitations, obstacles consisting in the construction industry, and introduces models for the application. The indicators and methods indispensable to evaluating the adoption of supply chain management in construction are also discussed.","PeriodicalId":351518,"journal":{"name":"2011 IEEE International Conference on Automation and Logistics (ICAL)","volume":"233 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":"123038890","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
Data analysis and simulation of Auto-ID enabled food supply chains based on EPCIS standard 基于EPCIS标准的自动识别食品供应链数据分析与仿真
2011 IEEE International Conference on Automation and Logistics (ICAL) Pub Date : 2011-09-23 DOI: 10.1109/ICAL.2011.6024684
Rui Wang, Sergey Prives, R. Fischer, Michael Salfer, W. Günthner
{"title":"Data analysis and simulation of Auto-ID enabled food supply chains based on EPCIS standard","authors":"Rui Wang, Sergey Prives, R. Fischer, Michael Salfer, W. Günthner","doi":"10.1109/ICAL.2011.6024684","DOIUrl":"https://doi.org/10.1109/ICAL.2011.6024684","url":null,"abstract":"The development of Auto-ID technologies has brought new opportunities to improve tracking and tracing process and thus enhance safety and traceability in the food supply chain. EPCIS (EPC Information Service) is a crucial specification for enabling EPC-related data sharing within and across enterprises in standardized way. Due to the limitations of real case implementations, we exploit a simulation method to replicate key identification processes and to generate EPCIS-Events which are captured by such processes in Auto-ID enabled food supply chain. For illustrating this in details, key identification processes and their mapping to related EPCIS-events are illustrated by using a case study in frozen food chain. Suggestions for EPCIS-extensions are also discussed by considering the specific characteristics of frozen food chains. In our work, the generated EPCIS-Events are sent to EPCIS-based repository in real time which better reflects the real world applications. We believe our simulation method could provide a proof-of-concept way in EPCIS-enabled tracking and tracing in food supply chain. Furthermore, the real-time transmission of EPCIS-Events provides a good basis for developing or testing high-level applications.","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":"129437432","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: 18
Optimizing adaptive thrust allocation based on group biasing method for ship dynamic positioning 基于群偏置方法的船舶动力定位自适应推力优化分配
2011 IEEE International Conference on Automation and Logistics (ICAL) Pub Date : 2011-09-23 DOI: 10.1109/ICAL.2011.6024750
Xiaocheng Shi, Yushi Wei, Jipeng Ning, Mingyu Fu, Da-wei Zhao
{"title":"Optimizing adaptive thrust allocation based on group biasing method for ship dynamic positioning","authors":"Xiaocheng Shi, Yushi Wei, Jipeng Ning, Mingyu Fu, Da-wei Zhao","doi":"10.1109/ICAL.2011.6024750","DOIUrl":"https://doi.org/10.1109/ICAL.2011.6024750","url":null,"abstract":"Thrust allocation is an important part of the dynamic positioning system of ships, which determines the control inputs of each thruster device from the control law. In order to improve the faults of thrust allocation algorithms efficiently, the concept of group biasing is given and the adaptive strategy of group biasing method is designed. Consequently, the optimizing adaptive thrust allocation algorithm is proposed which bases on the group biasing and optimal methods, and the amplitude of bias can be adjusted adaptively according to thrust force. Applying the algorithm, the dynamic performances of dynamic positioned ships are improved availably, and the fuel consumption and maneuverability are both considered simultaneously. The validity and excellent performances of this algorithm were proved by the simulation results.","PeriodicalId":351518,"journal":{"name":"2011 IEEE International Conference on Automation and Logistics (ICAL)","volume":"78 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":"132820513","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: 10
Teleoperation over internet communication networks under time varying delay 时变延迟下internet通信网络的远程操作
2011 IEEE International Conference on Automation and Logistics (ICAL) Pub Date : 2011-09-23 DOI: 10.1109/ICAL.2011.6024676
S. Islam, P. X. Liu, Abdulmotaleb El Saddik
{"title":"Teleoperation over internet communication networks under time varying delay","authors":"S. Islam, P. X. Liu, Abdulmotaleb El Saddik","doi":"10.1109/ICAL.2011.6024676","DOIUrl":"https://doi.org/10.1109/ICAL.2011.6024676","url":null,"abstract":"This paper considers trajectory tracking control problem for internet-based teleoperation system under time varying communication delay. The design comprises delayed position signals with the local velocity and nonlinear adaptive control signals. Adaptive terms are used to learn and compensate uncertain parameters for the gravity loading vector of the master-slave device. Lyapunov-Krasovskii-like functional is employed to establish the asymptotic tracking property of the coupled master-slave closed-loop teleoperator systems. The convergence analysis is given for both symmetric and asymmetric time varying communication networks delay between local-master and remote-slave haptic device. Finally, simulations and experimentations results are presented to demonstrate the validity of the proposed design.","PeriodicalId":351518,"journal":{"name":"2011 IEEE International Conference on Automation and Logistics (ICAL)","volume":"43 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":"123131987","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
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