2004 International Conference on Intelligent Mechatronics and Automation, 2004. Proceedings.最新文献

{"title":"Two approaches for autonomous underwater vehicle global path planning in large range ocean environment","authors":"Wang Hong-jian, Bian Xin-qian, Zhang Xu, Fu Ming-yu, Li Juan","doi":"10.1109/ICIMA.2004.1384193","DOIUrl":"https://doi.org/10.1109/ICIMA.2004.1384193","url":null,"abstract":"In this paper, two approaches for autonomous underwater vehicle are presented and used to solve the problem of global path planning in large range oceain environment. The first planning approach is so called genetic algorithm based on domain knowledge, and the second planning approach is based on A* algorithm. In the two approaches, the planning workspace is represented as a set of equal grid based os known and certain large-scale chart data, which referred to as the grid-based model. The grid-based workspace model and its data structures are introduced in this paper. Some problem about the first approach are discussed in the paper, such as the coding scheme based on decimal grid-coordinate and variable-length chromosome, the generating method of initial population, the fitness evaluation function, the evolve strategy and some superiority genetic operators are all designed and introduced in detail. And some measures are adopted to improve the searching capability and to speed up convergence of the CA planning algorithm. And this paper also proposed the realization method of A* to search an optimal planning path for AUV. The simulation result shows that the CA which adopting a method of variable length codes makes the path described simply and clearly, has the character of high speed global convergence, and can more effectively solve the problem of path planning for AUV, the A* algorithm can find a relative optimal path to grid-based model in a little time, and both the two approaches can satisfy the system requirement of real time.","PeriodicalId":375056,"journal":{"name":"2004 International Conference on Intelligent Mechatronics and Automation, 2004. Proceedings.","volume":"90 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126013805","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}

{"title":"Modeling and vibration control of a flexible structure using linearized piezoeeramic actuators","authors":"Hong Hu, Guangying Sun, Dagui Huang, Limei Xu","doi":"10.1109/ICIMA.2004.1384166","DOIUrl":"https://doi.org/10.1109/ICIMA.2004.1384166","url":null,"abstract":"In this paper, a dynamical model of the cantilever beam using Lagrange's equation and two coordinate systems are presented. Based on the Lyapunov's direct method, an active vibration controller with hysteresis compensation is designed. The controller is designed so that it guarantees the global stability of the overall system. The hysteresis compensator is based on the classical Preisach model and is used in order to lead to \"linearized\" piezo actuators. The controller developed is assessed experimentally.","PeriodicalId":375056,"journal":{"name":"2004 International Conference on Intelligent Mechatronics and Automation, 2004. Proceedings.","volume":"80 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114140947","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}

{"title":"Grasp planning of multi-fingered robot hands","authors":"Yun-hui Liu","doi":"10.1109/ICIMA.2004.1384218","DOIUrl":"https://doi.org/10.1109/ICIMA.2004.1384218","url":null,"abstract":"This paper presents our latesl: research results in stability analysis and synthesis of grasping of multi-fingered robot hands. A new approach, based on the ray-shooting technique, is developed for formulation of stability analysis and synthesis in both continuous and discrete spaces. This novel formulation leads to several simple and efticient algorithms for checking and planning of form-closure grasps in real-time. The algorithms have been implemented and simulation results will be also presented. further extended the approach to 3-D 4-finger grasps. The authors (3), (7) have recently developed an algorithm for computing form-closure grasps by iteratively moving the convex hull of the primitive contact wrenches towards the origin of the wrench space. In this paper, we present a new framework using the ray-shooting technique for stability analysis and planning of 3-D form-closure grasps. The ray-shooting technique is a powerful tool for extracting geometric information in Computational Geometry and Computer Graphics. Based on the duality between convex hulls and convex polytopes, a ray-shooting problem can be transformed to a Linear Programming (LP) problem (14), which can be solved in real-time when the size of the problem is not huge. It will be demonstrated that the qualitative test and computation of a form-closure grasp can be formulized as ray-shooting problems. Based on the ray-shooting technique, a simple and efficient heuristic method is developed for searching for a form-closure grasp on the surface of a 3-D object in the direction of reducing the distance between the convex hull and the origin of the wrench space. To overcome the local minimum problem in the heuristic search, a recursive problem decomposition strategy is introduced so that a complete and efficient algorithm is developed for finding a form-closure grasp in a discrete domain. It is proved that the algorithm takes 0(-) time, where K is the number of the local minimum points in the grasp space and n is the number of fingers. The . complexity of the algorithm does not depend on the number of points representing the object, but on the number of the local minimum points (grasps), i.e. the geometry of the discrete surface of the object. This algorithm works much more efficiently than the combinatory method whose computational complexity is Ow), where N denotes the number of points representing the surface of the object. Compared with other heuristic methods, this algorithm can always find a solution or report no solution. The heuristics used here is just to guide the local search procedure. KlnK n","PeriodicalId":375056,"journal":{"name":"2004 International Conference on Intelligent Mechatronics and Automation, 2004. Proceedings.","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116138764","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}

{"title":"Speed control of brushless DC motor using genetic algorithm based fuzzy controller","authors":"C. Xia, P. Guo, T. Shi, Ming-Hao Wang","doi":"10.1109/ICIMA.2004.1384239","DOIUrl":"https://doi.org/10.1109/ICIMA.2004.1384239","url":null,"abstract":". Abstract - The brushless DC motor (BIBCM) is receiving wide attention for industrial applications because of their high torque density, high efficiency and small size. Conventional eontrollers suffer hm uncertain parameters and the non-linear of the BLDCM. The fuzzy control has been focus in the field of the control of the BLDCM. However, a systematic method for designing and tuning the fuzzy logic controller is not developed yet. In this paper, an auto-tuning method for fuzzy logic controller based on the genetic algorithm (GA) is presented. And the scheme is applied into the BLDCM control. Two closed loops are constructed in this paper. The inner loop is current feed back which is to adjust the torque of the motor. The outer loop is the fuzzy logic controller whose control rules are optimized off-line and parameters are adjusted based on the genetic algorithm. In this paper, a program is written in Visual C++ to adjust the fuzzy controller off-line. At last, a TMS320LF2407A digital signal processor (DSP) is used to fully prove the fle!uibility of the control scheme in real time. Excellent flexibility and adaptability as well as high precision and good robustness are obtained by the proposed strategy.","PeriodicalId":375056,"journal":{"name":"2004 International Conference on Intelligent Mechatronics and Automation, 2004. Proceedings.","volume":"296 ","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114048419","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}

{"title":"Trajectory tracking of wheeled robot based on iterative learning control","authors":"Guo Yu, Huang Weili","doi":"10.1109/ICIMA.2004.1384194","DOIUrl":"https://doi.org/10.1109/ICIMA.2004.1384194","url":null,"abstract":"A kinematics model for a claws of wheeled robot is analyzed and built in this paper. The application of D-type iterative learning control in trajectory tracking of wheeled robot is studied. An iterative learning control algorithm and its convergent condition are given. This algorithm has advantages of simplicity and depending 1;~le on the model. The results of simulation show that the presented iterative learning control can solve the problems of trajectory tracking: for nonholonomic system successfully. The algorithm has good robustness to measuring parameter errors. By simulation it is proved that good tracking performance can be obtained.","PeriodicalId":375056,"journal":{"name":"2004 International Conference on Intelligent Mechatronics and Automation, 2004. Proceedings.","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114253015","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}

{"title":"An application of chaos control in the orientation tracing of the low quality fingerprint image","authors":"Huaiyu Wu, Jun Li, Kang-ling Fang, Lijuan Hu","doi":"10.1109/ICIMA.2004.1384284","DOIUrl":"https://doi.org/10.1109/ICIMA.2004.1384284","url":null,"abstract":"In this paper, an orientation ,tracing algorithm of the fingerprint image based on OGY ttraotie tentrol method is proposed to process some low quality fingerprint images due to dirt, water, scars and cuts which have a significant impact on proper identification because these disturbed areas are likely lead to confusion of the orientation field. An orientation tracing state de4 is established in the algorithm. The control parameter in the model can be adjusted according to the condition of a given control-start (tkreshoM) so that the new Mientation can lead the trajectery to t4e right direction. The experimental results show that the proposed algorithm can eliminate the disturbance and acquire reliable orientation information.","PeriodicalId":375056,"journal":{"name":"2004 International Conference on Intelligent Mechatronics and Automation, 2004. Proceedings.","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132618677","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}

{"title":"Mobile robot indoor map building and pose tracking using laser scanning","authors":"Zhuang Yan, Tang Shubo, Liu Lei, Wang Wei","doi":"10.1109/ICIMA.2004.1384276","DOIUrl":"https://doi.org/10.1109/ICIMA.2004.1384276","url":null,"abstract":"Map building and pose tracking are central tasks ter an autttaewotls mobile robot's navigation. The intention of this paper is to introduce our research in mobile robot indoor map building and pose tracking using laser range finder. The line feature extraction methods, which include improved angle histograms algorithm and weighted least square fitting, are proposed firstly. We then discuss the criterion of lines merging in map building. The pose tracking approach based on Extended Kalman Filter is also presented in this paper. Conclusions and experimental results based on a real mobile platform are also given in the final part of this paper.","PeriodicalId":375056,"journal":{"name":"2004 International Conference on Intelligent Mechatronics and Automation, 2004. Proceedings.","volume":"223 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132814441","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}

{"title":"Comparison of steady state and elitist selection genetic algorithms","authors":"Shizhen, C. Zhouyang","doi":"10.1109/ICIMA.2004.1384245","DOIUrl":"https://doi.org/10.1109/ICIMA.2004.1384245","url":null,"abstract":"It is proposed that the comparison problem of two models of the genetic algorithm, the steady state genetic algorithm and the elitist selection genetic algorithm. The convergence speed, on-line and off-line performance of the hvo algorithms in different environments are compared. It is experimentally shown that the steady state genetic algorithm is a simple, effective genetic algorithm. The steady state genetic algorithm runs well in low-dimensional environment, especially its good on-line performance. On the other hand the elitist selection genetic algorithm runs well in highdimensional environment, it has good capability in searching optimal value in a big space. The diffmnce between the searching ability of two algorithms was explained by the theory of Implicit Parallelism. The difference between the two algorithms on-line performances was explained by the difference ways of reproduction the two models used.","PeriodicalId":375056,"journal":{"name":"2004 International Conference on Intelligent Mechatronics and Automation, 2004. Proceedings.","volume":"66 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134397178","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}

{"title":"Algorithm of fault diagnosis for satellite network","authors":"Xian-qin Hou, Zhihua Fan, Lei Li, Fanjiang Xu, Chundong She, Gang Hu","doi":"10.1109/ICIMA.2004.1384265","DOIUrl":"https://doi.org/10.1109/ICIMA.2004.1384265","url":null,"abstract":"Automated fault diagnosis becomes increasingly important to satellite work. In an early paper, we introduced system level diagnosis theory into satellite iietwork firstly and presented two-level-node graph, a novel modeling method,. Based on these work, a new test invalidation model under certain fault pattern is presented and a diagnosis algorithni is proposed in this paper. Diagnosis can be divided into two steps, local diagnosis and centralized diagnosis. The former is distributed, which can reduce the diagnosis delay by collecting test results in satellites parallelly. The latter is centralized, which can make use of the regularity of satellite network. The procedure of local diagnosis is described by activity cycle diagram. During diagnosing, little professional knowledge about satellite needs to be involved. An example illustrates the diagnosis algorithm and its effect.","PeriodicalId":375056,"journal":{"name":"2004 International Conference on Intelligent Mechatronics and Automation, 2004. Proceedings.","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134107311","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}

{"title":"A fuzzy logic learning control for vibration suppression of manipulator robot systems","authors":"Pingkang Li, Xiuxia Du","doi":"10.1109/ICIMA.2004.1384214","DOIUrl":"https://doi.org/10.1109/ICIMA.2004.1384214","url":null,"abstract":"Fuzzy Logic Learning Control method is proposed to achieve precise tracking control and end-point vibration suppression of a flexible manipulator robot system. The Fuzzy Logic Learning Control is done in a feedback configuration with collocated PD control with the learning law updates the feedforward input from the error of the previous trial. Simulation results of the response of the manipulator with the controllers are presented in the time and frequency domains. The performance of the hybrid Fuzzy Logic Learning Control scheme is assessed in terms of input tracking and level of vibration reduction in comparison to a conventionally designed collocated PD with input shaping control scheme.","PeriodicalId":375056,"journal":{"name":"2004 International Conference on Intelligent Mechatronics and Automation, 2004. Proceedings.","volume":"66 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131570612","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}