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2010 IEEE International Conference on Automation and Logistics最新文献

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Design and experiment of an open control system for a humanoid robot 仿人机器人开放式控制系统的设计与实验
2010 IEEE International Conference on Automation and Logistics Pub Date : 2010-09-23 DOI: 10.1109/ICAL.2010.5585309
Xuechao Chen, Qiang Huang, Zhangguo Yu, Jing Li, Wei Xu, Fei Meng, Jiayu Liu
{"title":"Design and experiment of an open control system for a humanoid robot","authors":"Xuechao Chen, Qiang Huang, Zhangguo Yu, Jing Li, Wei Xu, Fei Meng, Jiayu Liu","doi":"10.1109/ICAL.2010.5585309","DOIUrl":"https://doi.org/10.1109/ICAL.2010.5585309","url":null,"abstract":"This paper presents an open control system consisting of decision-making system, teleoperation system, and motion control system for humanoid robots. In order to enhance the expandability of the robot, this system supports CANopen protocol. Communication time is reduced effectively via multiple CAN channels in parallel mode. In addition, CANopen driver and Mini Multi-Axis controller are designed complying with DS301. The effectiveness of the proposed open control system is confirmed by walking experiment on our humanoid robot.","PeriodicalId":393739,"journal":{"name":"2010 IEEE International Conference on Automation and Logistics","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123741608","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
Adaptive fuzzy backstepping control for a miniature helicopter 微型直升机的自适应模糊反步控制
2010 IEEE International Conference on Automation and Logistics Pub Date : 2010-09-23 DOI: 10.1109/ICAL.2010.5585325
Guanqing Chang, Hanbo Qian, Guoliang Fan, Hongxing Chang
{"title":"Adaptive fuzzy backstepping control for a miniature helicopter","authors":"Guanqing Chang, Hanbo Qian, Guoliang Fan, Hongxing Chang","doi":"10.1109/ICAL.2010.5585325","DOIUrl":"https://doi.org/10.1109/ICAL.2010.5585325","url":null,"abstract":"This paper presents an adaptive control approach for a miniature helicopter with modeling uncertainties. The controller design has been carried out by combining backstepping design and adaptive fuzzy control. This combination involves superimposing the two control techniques in order to meet both stability and performance objectives. First, the adaptive Takagi-Sugeno fuzzy systems are employed to compensate for the effect of uncertain dynamics. Then, the controller synthesis are completed based on the backstepping design. The stability of the overall closed-loop system is guaranteed based on the Lyapunov theorem. Computer simulation results are given to demonstrate the applicability of the proposed control method.","PeriodicalId":393739,"journal":{"name":"2010 IEEE International Conference on Automation and Logistics","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126443251","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
Kinematic analysis and solution of the natural posture of a 7DOF humanoid manipulator 七自由度类人机械臂自然姿态的运动学分析与求解
2010 IEEE International Conference on Automation and Logistics Pub Date : 2010-09-23 DOI: 10.1109/ICAL.2010.5585402
Ye Tian, Xiaopeng Chen, Qiang Huang, Weimin Zhang
{"title":"Kinematic analysis and solution of the natural posture of a 7DOF humanoid manipulator","authors":"Ye Tian, Xiaopeng Chen, Qiang Huang, Weimin Zhang","doi":"10.1109/ICAL.2010.5585402","DOIUrl":"https://doi.org/10.1109/ICAL.2010.5585402","url":null,"abstract":"Biped walking control and motion planning of humanoid robots have been researched for a long time and have made great progress. In order to serve people, the humanoid's arm should appear natural, have large working space and be easy to avoid obstacles In this paper a 7DOF manipulator with the same joint configuration as human's arm and its planning algorithm is proposed. The arm imitates the posture of human's arm to give the optimal solution in the joint space to make our manipulator look natural. The redundancy is solved and the manipulator's natural posture is derived conveniently and easily. Experiments show the feasibility of the method.","PeriodicalId":393739,"journal":{"name":"2010 IEEE International Conference on Automation and Logistics","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126590654","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: 8
Application of a stray current monitoring system base upon virtual instrument 基于虚拟仪器的杂散电流监测系统的应用
2010 IEEE International Conference on Automation and Logistics Pub Date : 2010-09-23 DOI: 10.1109/ICAL.2010.5585306
Zhiguang Chen, C. Qin, Y. Zhang, Xianchao Yang
{"title":"Application of a stray current monitoring system base upon virtual instrument","authors":"Zhiguang Chen, C. Qin, Y. Zhang, Xianchao Yang","doi":"10.1109/ICAL.2010.5585306","DOIUrl":"https://doi.org/10.1109/ICAL.2010.5585306","url":null,"abstract":"Stray current corrosion (SCC) is one of the most severe forms of electrochemical corrosion. In the paper, the mechanism and character of stray current from DC electric traction systems and its influence upon buried pipe were briefly introduced. The stray current testing methods and testing equipments were reviewed. A new system for monitoring the stray current, based upon virtual instrument, was put forward. The proposed system has some advantages such as real-time display, frequency control, and automatic data storage. The pipe-soil potentials of a gas pipeline, located in the neighboring area and parallel to the rail transit powered by a DC source in Shanghai, were tested by means of proposed system. Actual results show that stray current corrosion of underground gas pipeline is existed, some protective measures must be done to eliminate the corrosion, and the feasibility of the system has been proved.","PeriodicalId":393739,"journal":{"name":"2010 IEEE International Conference on Automation and Logistics","volume":"80 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126009762","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
Grey-game in agricultural perishable products supply chain under union 联盟下农产品供应链中的灰色博弈
2010 IEEE International Conference on Automation and Logistics Pub Date : 2010-09-23 DOI: 10.1109/ICAL.2010.5585387
Lijuan Wang, Xichao Sun, Hongwei Wang
{"title":"Grey-game in agricultural perishable products supply chain under union","authors":"Lijuan Wang, Xichao Sun, Hongwei Wang","doi":"10.1109/ICAL.2010.5585387","DOIUrl":"https://doi.org/10.1109/ICAL.2010.5585387","url":null,"abstract":"This paper is aimed to research grey-game in a two-stage perishable agricultural products supply chain consisting of multi- peasant and a company. These peasants set up dynamic alliances. The market price of perishable agricultural products are random and uncertain availability, it is an interval grey number. Then, the grey game model under union is established. The various game results between multi- peasant and a company are discussed and the factors of impacting them cooperation are explored. The results show that the two decision factors of cooperating between them are the penalty to breaking a treaty and the bonus to being rewarded, and the alliances affect the peasants violating a treaty rather than the company. Finally the strategy and means of realizing the united optimization and reaching Nash equilibrium in perishable agricultural products supply chain are presented and also demonstrated by examples.","PeriodicalId":393739,"journal":{"name":"2010 IEEE International Conference on Automation and Logistics","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133772576","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
System identification, modeling and precision motion control of a linear motor drive stage 直线电机驱动平台系统辨识、建模及精密运动控制
2010 IEEE International Conference on Automation and Logistics Pub Date : 2010-09-23 DOI: 10.1109/ICAL.2010.5585286
Jian Zhang, Chuxiong Hu, B. Yao, Qingfeng Wang, Cong Li
{"title":"System identification, modeling and precision motion control of a linear motor drive stage","authors":"Jian Zhang, Chuxiong Hu, B. Yao, Qingfeng Wang, Cong Li","doi":"10.1109/ICAL.2010.5585286","DOIUrl":"https://doi.org/10.1109/ICAL.2010.5585286","url":null,"abstract":"This paper studies the system identification, modeling and precision motion control of coreless linear motor drive stage which offers several advantages over its rotary counterparts in many applications requiring linear motion by eliminating mechanical transmission mechanisms. System identification is first carried out to capture the system dynamics characteristics. And with a precision motion control oriented modeling in mind, a second-order nonlinear model with unknown parameters and bounded disturbances is then constructed to describe the system dynamics. Compared with PID control, an adaptive robust controller (ARC) is then proposed and applied to the linear motor drive stage for good tracking performance under both parametric uncertainties and unknown nonlinearities. Experimental results obtained on a linear motor drive stage are presented to verify the effectiveness and good tracking performance of the proposed ARC scheme.","PeriodicalId":393739,"journal":{"name":"2010 IEEE International Conference on Automation and Logistics","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131562451","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
Research to optimize the embodiment design of modules and components used in roller conveyors 对滚筒输送机中使用的模块和部件的优化实施方案设计进行了研究
2010 IEEE International Conference on Automation and Logistics Pub Date : 2010-09-23 DOI: 10.1109/ICAL.2010.5585333
Bernd Kunne, D. Wieczorek
{"title":"Research to optimize the embodiment design of modules and components used in roller conveyors","authors":"Bernd Kunne, D. Wieczorek","doi":"10.1109/ICAL.2010.5585333","DOIUrl":"https://doi.org/10.1109/ICAL.2010.5585333","url":null,"abstract":"Roller conveyors are composed of a high number of recurring modules and components. These modules and components often are oversized because vague estimates are used to plan the design. The oversizing of roller conveyors has a multiplicative effect because of the high number of current modules and components. If the forces with which the components are affected during the conveying are known the embodiment design of roller conveyors can be adapted to the forces. That is why a statistical model has been developed with the help of Design of Experiments based on measurands to determine the dynamic forces at that point where the force transmission in the conveyor takes place. This model conduces to generate new guidelines for embodiment design for roller conveyors.","PeriodicalId":393739,"journal":{"name":"2010 IEEE International Conference on Automation and Logistics","volume":"435 2-3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132152454","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
Research on the ABC classification based on DEA and fuzzy method for military materials 基于DEA和模糊方法的军工物资ABC分类研究
2010 IEEE International Conference on Automation and Logistics Pub Date : 2010-09-23 DOI: 10.1109/ICAL.2010.5585383
Wan Jie, Wang Wen, Yanbing Luo
{"title":"Research on the ABC classification based on DEA and fuzzy method for military materials","authors":"Wan Jie, Wang Wen, Yanbing Luo","doi":"10.1109/ICAL.2010.5585383","DOIUrl":"https://doi.org/10.1109/ICAL.2010.5585383","url":null,"abstract":"The paper develops the existed model to adjust military materiel's classification. With the full use of DEA (Data Envelopment Analysis) and fuzzy method, this model has considered all the benefit, non-benefit and qualitative criteria comprehensively to become more comprehensively and objectively, and could make the results more detailed, reasonable and effective. This model can be widely used in military materiel inventory management work.","PeriodicalId":393739,"journal":{"name":"2010 IEEE International Conference on Automation and Logistics","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129359653","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
Research on flow simulation of fuel systems based on components 基于组件的燃油系统流动仿真研究
2010 IEEE International Conference on Automation and Logistics Pub Date : 2010-09-23 DOI: 10.1109/ICAL.2010.5585319
Li Liu, Jie Lian, Yuying Zhou, Haosong Chen
{"title":"Research on flow simulation of fuel systems based on components","authors":"Li Liu, Jie Lian, Yuying Zhou, Haosong Chen","doi":"10.1109/ICAL.2010.5585319","DOIUrl":"https://doi.org/10.1109/ICAL.2010.5585319","url":null,"abstract":"The design and realization method of fuel systems simulation is introduced in this paper. It is based on components. It is used for fuel system design,operational flow analysis and decision-making assistant. At first, visual controls of several devices in fuel systems are constructed using ActiveX technology. Then these visual controls are built together for real fuel system. With this method, this fuel system is shown by visual graph. At last, the function such as operational flow analysis, decision-making assistant is achieved using depth first algorithm. Using this software, the analysis and decision-making of the operational flow in fuel systems can be done intuitionist, convenient and fast. So the working efficiency of designers can be advanced rapidly.","PeriodicalId":393739,"journal":{"name":"2010 IEEE International Conference on Automation and Logistics","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131062681","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 framework for coordination and navigation of multi-robot systems 多机器人系统的协调与导航框架
2010 IEEE International Conference on Automation and Logistics Pub Date : 2010-09-23 DOI: 10.1109/ICAL.2010.5585308
Anmin Zhu, Simon X. Yang
{"title":"A framework for coordination and navigation of multi-robot systems","authors":"Anmin Zhu, Simon X. Yang","doi":"10.1109/ICAL.2010.5585308","DOIUrl":"https://doi.org/10.1109/ICAL.2010.5585308","url":null,"abstract":"In this paper, a novel framework is proposed to incorporate task assignment, path planning, and tracking control of a multi-robot system. The dynamic task assignment of multi-robots is achieved using a self-organizing map based feature. The real-time collision-free robot path is generated from a neuro-dynamics network through sensor measurement and responding immediately to dynamic elements in the environment including the robot, the target, and obstacles. The tracking control is accomplished by a neuro-dynamics and back-stepping based model. This type of control is able to generate smooth, bounded acceleration control signals for a non-holonomic mobile robot to track the reference path generated by the path planner. Experiments under various situations demonstrated the effectiveness of this integrated system.","PeriodicalId":393739,"journal":{"name":"2010 IEEE International Conference on Automation and Logistics","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115265206","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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