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10th World Congress on Intelligent control and Automation, WCICA 2012

作者： Jing, Sifeng Cheng, Changjian Xiong, Gang Liu, Xiwei Shang, Xiuqin Wang, Weixing State Key Laboratory of Management and Control for Complex Systems Beijing Engineering Research Center of Intelligent Systems and Technology Institute of Automation Chinese Academy of Sciences Beijing 100190 China Dongguan Research Institute of CASIA Cloud Computing Industrial Technology Innovation and Incubation Center Chinese Academy of Sciences Songshan-Lake 523808 China

ISBN: (纸本)9781467313988

To further enhance emergency management skills of an organisation's emergency response personnel, emergency response training,especially 3D emergency drill, is currently becoming more and more important in the petrochemical sector. So, a novel 3D emergency drills system is designed and developed based on ACP approach, which can be used for mocking emergency response plan drills and evaluating the plan. A case study reveals that the performance of the system is good and the system can meet the needs of emergency response training and optimizing emergency response plan in petrochemical plants. © 2012 IEEE.

关键词： Personnel training

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Point stabilization of mobile robots by genetic sliding mode approach with neural dynamics model on uneven surface

Point stabilization of mobile robots by genetic sliding mode...

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IEEE International Conference on Automation Science and Engineering (CASE)

作者： Zhengcai Cao Yingtao Zhao Yili Fu College of Information Science and Technology Beijing University of Chemical and Technology Beijing China State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China

In this work, a novel point stabilization control strategy for mobile robots which moves on uneven surface is presented. Firstly, sliding mode method is adopted to extend the nonlinear kenimatic control law to dynamic system, so that the robot is driven by torques. Then, to solve the speed and torque jump problem, the neural dynamics model is integrated into the presented controller. In addition, we utilize genetic algorithm (GA) to optimize the controller parameters for obtaining better stabilization performance. The stability of the proposed control system is analyzed by using Lyapunov theory. Finally, simulation results are given to illustrate the effectiveness of the proposed control scheme.

关键词： Mobile robots Robot kinematics Genetic algorithms Mathematical model Silicon Simulation

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Overhead Power Line Detection from UAV Video Images

Overhead Power Line Detection from UAV Video Images

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International Conference on Mechatronics and Machine Vision in Practice

作者： Tang Wen YANG Hang YIN Qiu Qi RUAN Jian Da HAN Jun Tong QI Qing YONG Zi Tong WANG Zeng Qi SUN Beijing Key Laboratory of Advanced Information Science and Network Technology Institute of Information Science Beijing Jiaotong University Beijing 100044 China Key Laboratory of Rail Traffic Control and Safety Beijing Jiaotong University Beijing 100044 China State Key Laboratory of Robotics Shenyang Institute of Automation CAS Shenyang 110016 China Department of Computer Science and Technology Tsinghua University Beijing 100084 China

ISBN: (纸本)9781467316439

Currently, unmanned aerial vehicles (UAVs) are applied to routine inspection tasks of electric distribution networks. As an important information source, machine vision attracts much attention in the area of the UAV's autonomous control. To this end, real-time algorithms are studied-in this paper to detect the power lines in the UAV video images. First, video images are converted into binary images through an adaptive thresholding approach. Then, Hough Transform is used to detect line candidates in the binary images. Finally, a fuzzy C- means (FCM) clustering algorithm is used to discriminate the power lines from the detected line candidates. The properties of power lines are used to remove the spurious lines, and the length and slope of the detected lines are used as features to establish the clustering data set. Experimental results show that the algorithms proposed are effective and able to tolerate noises from complicated terrain background and various illuminations.

关键词： Hough transforms autonomous aerial vehicles computer vision fuzzy set theory pattern clustering power overhead lines power system control video signal processing

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Active control of Free Paraboloidal Membrane Shells Using Photostrictive Actuators

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Transactions of Tianjin University 2011年第1期17卷 6-12页

作者：王新杰岳洪浩邓宗全 State Key Laboratory of Robotics and Systems Harbin Institute of Technology Research Center of Aerospace Mechanism and Control Harbin Institute of Technology

The paraboloidal membrane shell with free boundary condition is actively controlled using photostrictive actuators which can provide contactless actuation under the illumination of ultraviolet light. The governing equations of the paraboloidal shell laminated with paired photostrictive actuators are established based on membrane approximation. The modal control actions of meridional/circumferential actuators are respectively formulated and evaluated by case studies. Constant light intensity related to the velocity of the shell is adopted, and then the governing equations are written in a closed-loop form which can be solved with Newmark-β method. Considering the multi-field coupling behavior of photostrictive actuators, time histories of transverse displacement and control light intensity are simulated and evaluated. The results show that photostrictive actuators can effectively control the vibration of the paraboloidal membrane shell, and the photostrictive actuators oriented along circumferential direction can give better control effect than photostrictive actuators placed along the meridional direction.

关键词： photostrictive actuator paraboloidal shell active control membrane approximation

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Market-driven profit optimization for tabular chemical reactors with genetic algorithms

Market-driven profit optimization for tabular chemical react...

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IEEE Symposium on robotics and Applications (ISRA)

作者： Hai-Peng Qin Peng Chen Yong-Zai Lu Zhao-Li Wu Jian Chu State Key Laboratory of Industrial Control Technology & Institute of Cyber-Systems and Control Zhejiang University Hangzhou China Department of Automation Shanghai Jiaotong University Shanghai China Department of Chemical and Biological Engineering Zhejiang University Hangzhou China

With the uncertainty in the prices of feedstock, energy and finished products, the profit optimization plays a critical role in making a chemical production enterprise more dynamic and flexible to adapt the changes in global marketplace. This paper presents the development of profit optimization solution with an integration of profit model and model-based genetic algorithm (GA) optimization, and its industrial case study on an ethanolamine (EA) production line. The proposed methodology and solution may also be applied to other chemical manufacturing enterprises.

关键词： Robots

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Tracking control of a compliant XY nano-positioner under plant uncertainty using a transfigured loop-shaping H∞ controller

Tracking control of a compliant XY nano-positioner under pla...

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IEEE International Conference on Automation Science and Engineering (CASE)

作者： Hui Tang Yangmin Li Qinmin Yang Department of Electromechanical Engineering Faculty of Science and Technology University of Macau Taipa Macao China Overseas Distinguished Professor at the State Key Laboratory of Robotics of Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Department of Control Science and Engineering Zhejiang University Hangzhou China

This paper presents tracking control of a compliant XY nano-positioner using a transfigured loop-shaping H ∞ (TLSH) control strategy, which is capable of achieving satisfied positioning performance. The employed compliant nano-positioner is featured with a symmetric 4-PP (P represents prismatic joint) structure in which four-bar flexures are designed as the prismatic joints, meanwhile two embedded piezoelectric ceramic actuators (PZT) are adopted. Based on the identified plant transfer function of the nano-positioner, the presented control strategy and the traditional PID controller are implemented with different input scanning frequencies of 0.5 Hz and 2.5 Hz for comparisons. Both the simulation results and the practical experimental results demonstrate that the presented TLSH control method obviously performs better than the traditional PID method in the presence of plant model uncertainty, which will be applied to perform practical micromanipulation tasks.

关键词： Mathematical model Uncertainty Hysteresis Nanobioscience Actuators Robustness

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Optimal motion generation for heavy duty industrial robotscontrol scheme and algorithm

Optimal motion generation for heavy duty industrial robotsco...

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IEEE International Conference on Mechatronics

作者： You, Wei Kong, Minxiu Sun, Lining State Key Laboratory of Robotics and Systems Harbin Institute of Technology 150001 Harbin China

ISBN: (纸本)9781612849836

In this paper an optimal motion generation approach for a heavy duty industrial robot, including both the control scheme and algorithm, was designed and tested. Aiming for the main defects in data sampling interpolation process of traditional motion control scheme, a FC based control scheme is proposed, An industrial computer with a TwinCAT real-time system was chosen as the motion control unit,and EtherCAT was used for command transmission. With the bask requirements of motion generation, a navel time and power optimal motion generation algorithm based on modified cubic spline interpolation is proposed. The execution time and work were chosen as the objective function. The constraints are the limits of torque, velocity and jerk. The position and velocity of the optimized motion were smooth. Acceleration was continuous throughout the execution period, including at the start point and end point Then the proposed control scheme and motion generation algorithm was applied for control of heavy duty material handling robots. The final experimental results showed that after obtaining motion parameters in an off-line stage, the computation of interpolation in Cartesian space could be finished very rapidly, within a short sample time (about four times the sample time of the position control loop). And the motion generation algorithm has a great effect on energy saving and production efficiency improvement © 2011 IEEE.

关键词： Multiobjective optimization

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Research on point stabilization of a wheeled mobile robot using fuzzy control optimized by GA

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The Journal of China Universities of Posts and Telecommunications 2011年第5期18卷 108-113页

作者： CAO Zheng-cai ZHAO Ying-tao FU Yi-li College of Infornaation Science and Technology Beijing University of Chemical Technology Beijing 100029 China The State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin 150001 China

A point stabilization scheme of a wheeled mobile robot （WMR） which moves on uneven surface is presented by using tuzzy control. Taking the kinematics and dynamics of the vehicle into account, the fuzzy controller is employed to regulate the robot based on a kinematic nonlinear state feedback control law. Herein, the fuzzy strategy is composed of two velocity control laws which are used to adjust the speed and angular velocity, respectively. Subsequently, genetic algorithm （GA） is applied to optimize the controller parameters. Through the self-optimization, a group of optimum parameters is gotten. Simulation results are presented to show the effectiveness of the control strategy.

关键词： wheeled mobile robot point stabilization fuzzy control genetic algorithm

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Algorithm analysis for a rover simulation platform

Algorithm analysis for a rover simulation platform

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2011 International Conference on Electronic and Mechanical Engineering and Information Technology, EMEIT 2011

作者： Gao, Haibo Li, Weihua Ding, Liang Deng, Zongquan Liu, Zhen Guo, JunLong Research Center of Aerospace Mechanism and Control State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781612840857

In recent years, the rover-based planetary exploration missions have put forward some new challenges to the simulation platforms for rovers. This paper introduces a simulation platform, ROSTDyn (ROver Simulation based on Terramechanics and Dynamics), for planetary rovers developed with C++ programming language on the basis of Vortex software. In this paper, the structure of ROSTDyn is introduced briefly. key algorithms for developing ROSTDyn are presented in detail, including the computation of the contact-area parameters, the transformation of velocity and force, the balance of the forces, and the integration of the algorithms and the modules. The simulation results verify that the algorithms are right, the integration is effective and the simulation runs stable. © 2011 IEEE.

关键词： Rovers

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Stabilization on a class of networked control systems with random communication delay

Stabilization on a class of networked control systems with r...

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作者： Sun, Tao Su, Hongye Wu, Zhengguang State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou 310027 China

ISBN: (纸本)9783902661937

This paper is concerned with the stabilization problem of wireless networked control systems with network-induced delays of time-varying Markovian characterization. The effects of the sample rate changing on the network induced delay is the main topic. At first place, the time delay matrices changing stochastically and arbitrarily are considered. A state feedback controller is designed to guarantee the resulting close-loop system stochastically stable. Following that, a bridge is built to give out a uniform work.A numerical example is presented to illustrate the effectiveness and potential of the developed theoretical results. © 2011 IFAC.

关键词： networked control systems

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