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2012 9th IEEE International Conference on Networking, Sensing and control, ICNSC 2012

作者： Hu, Yuling Liu, Xiwei Wang, Feiyue Cheng, Changjian Beijing Key Laboratory of Automatic Control System School of Automation Beijing Institute of Technology China School of Electric and Information Engineering Beijing University of Civil Engineering and Architecture China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences China

ISBN: (纸本)9781467303880

Agent-based evacuation modeling approach is gained more and more attention for investigating human cognitive capabilities and social behaviors in building fires. This paper mainly overviews the research about various agent-based evacuation models. For the decision-making reflects the intelligence of agent individual, we define three types of behavior decision-making models for agent individual based on the collected literatures and sum up the characteristics of each type. Aiming at crowd' important influence on evacuation processes, we also sum up two types of agent-based crowd modeling approaches to simulate crowd evacuation processes and give corresponding cases. Finally, after summing up the existing problems, the outlooks of the research from computaional experiments point of view is proposed. © 2012 IEEE.

关键词： Decision making

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A study on ARMA model based corporate equipment maintenance expenditure prediction

A study on ARMA model based corporate equipment maintenance ...

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2012 IEEE International Conference on Service Operations and Logistics, and Informatics, SOLI 2012

作者： Lv, Minhui Zhao, Hongxia Shchool of Management Department of Equipment Economics and Management Naval University of Engineering Wuhan China State Key Laboratory of Management and Control for Complex System Institute of Automation Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781467324007

This paper focuses on macro prediction of corporate equipment maintenance expenditure, adopts ARMA to establish the model for historical data of corporate equipment maintenance expenditure and makes demand analysis and prediction so as to provide a scientific basis for decision makers in equipment maintenance expenditure prediction, and they can control the overall budget for equipment maintenance. Based on analysis and compassion of actual model calculation results, the paper reaches the conclusion that ARMA model enjoys an advantage over traditional predicting models in corporate equipment maintenance prediction. © 2012 IEEE.

关键词： Forecasting

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Kinematics analysis and trajectory planning of a multiarm medical robot assisted maxillofacial surgery

Kinematics analysis and trajectory planning of a multiarm me...

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6th International Conference on complex Medical engineering, CME 2012

作者： Chen, Chao Duan, Xing-Guang Wang, Xing-Tao Zhu, Xiang-Yu Li, Meng Intelligent Robotics Institute Key Laboratory of Biomimetic Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex System School of Mechatronical Engineering Beijing Institute of Technology #5Zhongguancun South Street Haidian Beijing China China

ISBN: (纸本)9781467316163

As the complex anatomical structure of the maxillofacial region, the surgery in this area is high risk and difficult to implement. Then, a multi-arm medical robot assisted maxillofacial surgery using optical navigation was proposed in this paper, which can improve surgical precision and make the doctors away from the heavy manual work. In this paper, the medical robot system and mechanical structure of the robot were introduced. Forward kinematics and inverse kinematics were analysed. Then trajectory planning using quintic polynomial interpolation for smoothly motion was adopted, and rectilinear motion in Cartesian space was adopted. The kinematics was validated and the workspace of the robot was calculated by simulations. Finally, the robot model was established and an experiment was carried out which proved the robot run smoothly and positioned accurately. © 2012 IEEE.

关键词： Inverse kinematics

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Bottleneck Prediction Method Based on Improved Adaptive Network-based Fuzzy Inference system (ANFIS) in Semiconductor Manufacturing system

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Chinese Journal of Chemical engineering 2012年第6期20卷 1081-1088页

作者：曹政才邓积杰刘民王永吉 College of Information Science and Technology Beijing University of Chemical Technology Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of EducationSoutheast University Tsinghua National Laboratory for Information Science and Technology State Key Laboratory of Computer Science Institute of SoftwareChinese Academy of SciencesBeijing 100190China

Semiconductor manufacturing (SM) system is one of the most complicated hybrid processes involved continuously variable dynamical systems and discrete event dynamical systems. The optimization and scheduling of semiconductor fabrication has long been a hot research direction in automation. Bottleneck is the key factor to a SM system, which seriously influences the throughput rate, cycle time, time-delivery rate, etc. Efficient prediction for the bottleneck of a SM system provides the best support for the consequent scheduling. Because categorical data (product types, releasing strategies) and numerical data (work in process, processing time, utilization rate, buffer length, etc.) have significant effect on bottleneck, an improved adaptive network-based fuzzy inference system (ANFIS) was adopted in this study to predict bottleneck since conventional neural network-based methods accommodate only numerical inputs. In this improved ANFIS, the contribution of categorical inputs to firing strength is reflected through a transformation matrix. In order to tackle high-dimensional inputs, reduce the number of fuzzy rules and obtain high prediction accuracy, a fuzzy c-means method combining binary tree linear division method was applied to identify the initial structure of fuzzy inference system. According to the experimental results, the main-bottleneck and sub-bottleneck of SM system can be predicted accurately with the proposed method.

关键词： semiconductor manufacturing system bottleneck prediction adaptive network-based fuzzy inference system

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New approaches to relaxed stabilization conditions and H-infinity control designs for T-S fuzzy systems

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控制理论与应用（英文版） 2012年第1期10卷 82-91页

作者： Juntao PAN Shumin FEI Yudong NI Mingxiang XUE Key Laboratory of Measurement and Control of Complex Systems of Engineering （Ministry of Education） Southeast University Nanjing Jiangsu 210096 China LAMIH UMR CNRS8503 University of Valenciennes et Hainaut-Cambr6sis Le Mont Houy 59313 Valenciennes Cedex 9 France School of Science Hefei University of Technology Hefei Anhui 230009 China

This paper focuses on the problem of fuzzy control for a class of continuous-time T-S fuzzy systems. New methods of stabilization design and H-infinity control are derived based on a relaxed approach in which both fuzzy Lyapunov functions and staircase membership functions are used. Through the staircase membership functions approx- imating the continuous membership functions of the given fuzzy model, the membership functions can be brought into the design conditions of fuzzy systems, thereby significantly reducing the conservativeness in the recent fuzzy controller design methods. Unlike some previous fuzzy Lyapunov function approaches reported in the literatures, the proposed design techniques of stabilization and H-infinity control do not depend on the time-derivative of the membership functions that may be pointed out as the main source of conservatism when considering fuzzy Lyapunov functions analysis. Moreover, conditions for the solvability of the controller design given here are written in the form of linear matrix inequalities, but not bilinear matrix inequalities, which are easier to be solved by convex optimization techniques. Simulation examples are given to demonstrate the validity and applicability of the proposed approaches.

关键词： T-S fuzzy systems Fuzzy Lyapunov functions Staircase membership functions Linear matrix inequalities

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Energy Efficient Data Collection in Hierarchical Wireless Sensor Networks

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China Communications 2012年第9期9卷 79-88页

作者： Zhang Chun Fei Shumin Zhou Xingpeng School of Automation Southeast UniversityNanjing 210096P.R.China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of EducationSoutheast UniversityNanjing 210096P.R.China

The majority of the energy consumption by the sensors is the energy requirement for data transmission in Wireless Sensor Networks （WSNs）. Therefore, introducing mobile collectors to collect data instead of nmlti-hop data relay is essential. However, for rmny proposed data gathering ap-proaches, long data deNNy is the train problenm. Hence, the problem of how to decrease the energy consumption and the data deNNy needs to be solved. In this paper, a low deNNy data collection mechanism using multiple mobile collectors is pro- posed. First, a self-organization clustering algorithm is designed. Second, sensor nodes are organized into three-level clusters. Then a collection strategy based on the hierarchical structure is proposed, which includes two rules to dispatch mobile collec- tors rationally. Simulation results show that the proposed mechanism is superior to other existing approaches in terms of the reduction in energy ex-penditure and the decrease in data deNNy.

关键词： WSNs energy consumption rrmltiplemobile collectors data delay

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Teleoperation of humanoid motion using 3G communication network

Teleoperation of humanoid motion using 3G communication netw...

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IEEE International Conference on Robotics and Biomimetics

作者： Qian Xu Qiang Huang Xuechao Chen Awais Yasin Zhangguo Yu Key Laboratory of Intelligent Control and Decision of Complex System School of Mechatronical Engineering Beijing Institute of Technology Beijing China

ISBN: (纸本)9781467321259

A small humanoid robot with a teleoperation system using 3G communication network is present in this paper. Considering the requirement of dynamic environment and hardware limitations of small humanoid, the teleoperation system was designed using 3G communication network, which has a good performance both on the long-distance operation and the communication speed. Then an improved walking planning method is explored on this robot. Most of conventional walking planning methods can not fit to the low computation performance of small humanoid nor the real-time teleoperation requirement. In order to solve this problem, an online walking planning method with has been presented in this paper. There are two primary advantages compared with conventional walking planning methods. First, the new online walking planning can realize walking based on real-time tasks due to its short control period. Secondly, the reduced computation and walking data can fit to the hardware limit of the small humanoid. The effectiveness of the proposed walking planning method was confirmed by experiments.

关键词： Small Humanoid Teleoperation 3G Network Walking Planning remote operation 3G communication walking Humanoid control period Humanoid robots

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Research of online detection system for glass defect based on support vector machine

Research of online detection system for glass defect based o...

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第四届国际自动化测试与仪器仪表学术会议

作者： Zhao Lianyi Xu Baojie Tong Liang Beijing Key Laboratory Measurement and Control of Mechanical and Electrical System School of Mechanical and Electrical EngineeringBeijing Information Science and Technology University

In view of the current domestic glass production enterprise which is lack of method to detect glass stones,cracks and other important defects,an online detection system for glass defect based on support vector machine is proposed in the *** paper is based on the research of image processing,feature extraction and pattern *** using of object-oriented Visual c + + 6.0 programming tools,and combined with OpenCV computer vision library,this system can realize glass defect on-line detection and *** successful rate for the defect inspection of the system can reach over 95%.

关键词： glass defect support vector machine online detection OpenCV

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A literature review of deadlock prevention policy based on petri nets for automated manufacturing systems

International Journal of Digital Content Technology and its ...

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International Journal of Digital Content Technology and its Applications 2012年第21期6卷 426-433页

作者： Guan, Xuanxuan Li, Yue Xu, Jianxia Wang, Chengying Wang, Shouguang School of Information and Electronic Engineering Zhejiang Gongshang University Hangzhou 310018 China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University Nanjing 210096 China

Deadlock is an undesired situation in a highly automated system due to the fact that no system can allow its occurrence which may produce some unnecessary economic losses or serious consequences. There are three mathematical tools to handle deadlocks in resource allocation systems: graph theory, finite state machine, and Petri net. Due to its inherent characteristics, Petri nets are widely applied to manufacturing systems. Generally, these existing deadlock methods are classified into three strategies: deadlock detection and recovery, deadlock avoidance, and deadlock prevention. In this paper, a review of deadlock prevention policies and merits and drawbacks of these policies are presented. Then it gives the possible trend of the research in the future.

关键词： Petri nets

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Research on the ground control system of quadrotor unmanned aerial vehicles

Research on the ground control system of quadrotor unmanned ...

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World Congress on Intelligent control and Automation (WCICA)

作者： Tingting Zhao Bin Xian Yungao Yang Fang Guo Guoping Huang The Institute of Robotics and Autonomous System the Tianjin Key Laboratory of Process Measurement and Control School of Electrical Engineering and Automation Tianjin University 300072 China

The quadrotor unmanned aerial vehicle (UAV) has been a focus for unmanned aerial vehicles. Ground control system (GCS) is an important part of the quadrotor UAV flight control system, and it can promote the flight performance and safety of quadrotor UAVs. In this paper, a quadrotor UAV GCS is designed and implemented, and the GCS realizes the following functions, including receiving and storing of the flight data, the real-time localization utilizing the customization of electronic maps like MapX and Google Earth, the visual display of flight states via virtual instruments and the waypoint planning. Outdoor experiments have been done to verify the GCS's performance. It can be concluded that the proposed GCS in this paper can work stably, and it can guarantee the integrity of the flight data, the accuracy of the instruments display and map localization.

关键词： Google Earth Sockets Unmanned aerial vehicles XML HTML Automation

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