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International Conference on Informative and Cybernetics for Computational Social systems (ICCSS)

作者： Hong Mo Fei-Yue Wang Fenghua Zhu School of Electrical and Information Engineering Changsha University of Science and Technology Changsha CN State Key Lab. of Management and Control for Complex Systems Institute of Automation CN

Reasonable timing design for traffic light can induce and maintain the transportation systems in good order. How to allocate the time are the keys. In the paper, the theory of time-varying universe is used to describe the circle time, and corresponding fuzzy sets on the universe are also discussed to modeling the situation of traffic flow, then the parallel traffic management and control methods which are dynamic with the time change are presented. A simulation example are provided to analyze the linguistic dynamic evolution of timing design of traffic light when the traffic flow is change with time-varying for an intersection.

关键词： Timing Pragmatics Vehicle dynamics Fuzzy sets Complex systems Vehicles

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Simulation comparison among three data-driven control methods for the planar manipulator

Simulation comparison among three data-driven control method...

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Asian control Conference

作者： Mengxue Hou Shangtai Jin School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University Shanghai China Advanced Control Systems Lab. Beijing Jiaotong University Beijing China

ISBN: (纸本)9781479978632

Data-driven control (DDC) is very suitable for practical industrial processes and has attracted much attention of researchers and engineers because it does not depend on an accurate mathematical model of a controlled plant. In this paper, three typical on-line DDC methods, model free adaptive control (MFAC), model free control (MFC), and active disturbance rejection control (ADRC) are designed for the planar manipulator with 1 rotary joint (PM1R). In order to implement the proposed control methods on MATlab.platform, the discrete non-linear model of PM1R and discrete control laws for MFC and ADRC are also derived. The similarity and difference among three DDC methods are discussed briefly and the simulation comparisons among these three DDC methods are given to support the conclusions.

关键词： Decision support systems

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A quad-rotor system for driving and flying missions by tilting mechanism of rotors: From design to control

A quad-rotor system for driving and flying missions by tilti...

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作者： Jeong, S.H. Jung, S. Intelligent Systems and Emotional Engineering Lab. Department of Mechatronics Engineering CNU Korea Republic of

This article presents the hybrid design and control of a quad-rotor system called Flymobile. Flymobile is a combined system of a mobile robot and a quad-rotor system aimed to perform both flying and driving tasks. Flymobile performs flying tasks in the same way as conventional quad-rotor systems while the tilting mechanism of each rotor allows Flymobile to navigate in its terrain for a driving task. The body frame with rotors is implemented by a calibration process through a test-bed equipped with a force sensor. The triangular wheel frame is designed to mimic motions of a mobile robot with three passive wheels. Sensor data of a gyro and an accelerometer are filtered and used for controlling the attitude of the system. Focusing on a practical approach of implementing a hybrid system, a non model-based approach is applied to control Flymobile. Experimental studies are demonstrated to show the feasibility of performing both driving and flying missions. © 2014 Elsevier Ltd.

关键词： Mobile robots

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Time Optimized Digital Image Processing of Ball and Plate System Using Artificial Neural Network

Time Optimized Digital Image Processing of Ball and Plate Sy...

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RSI/ISM International Conference on Robotics and Mechatronics

作者： Yasaman Parandian Hannaneh Z. Arabshahi Ali Nasr S. Ali A. Moosavian Center of Excellence in Robotics and Control Advanced Robotics and Automated Systems (ARAS) Lab. Department of Mechanical Engineering K.N. Toosi University of Technology Tehran Iran

ISBN: (纸本)9781467372350

Regarding robot interaction with moving objects and the necessity for robot controller to react in a timely manner having the objects current position, finding an efficient positioning method has always been a challenge. As ball and plate system is considered to be a standard experimental system in control lab.ratories. The system is consisted of the following pieces: a horizontal plate which gets tilted along each horizontal axes. The ball, which is located on the plate;is controlled by the system in a way to be placed in any point on the plate. In fact, the ball and plate system is an extension of the classical ball on beam experiment that is often used to study various types of control and stability problems.

关键词： Forward Kinematics Neural Networks Real-Time Computer Vision 3RRS Parallel Robot Ball and Plate

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Dynamics of a 9-DoF Robotic Leg for a Football Simulator

Dynamics of a 9-DoF Robotic Leg for a Football Simulator

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RSI/ISM International Conference on Robotics and Mechatronics

作者： Masoud Vahidi S. Ali A. Moosavian Center of Excellence in Robotics and Control Advanced Robotics and Automated Systems (ARAS) Lab. Department of Mechanical Engineering K.N. Toosi University of Technology Tehran Iran

ISBN: (纸本)9781467372350

This paper focuses on a robotic human-like leg. This robot was designed and modeled for task of kicking soccer ball to desired target. In addition, applications of this robot have been explained and its kinematics and dynamics equations have been developed. Kinematic analysis has been done using Denavit-Hartenberg method and position, velocity and acceleration of center of mass (CoM) of all links can be obtained. Dynamics equations of this robot have been written using recursive Lagrange method and inverse dynamics problem has been solved. Finally, kinematics and dynamics equations of this robot are verified using a numerical simulation in MATlab.simmechanics.

关键词： robotic leg simmechanics verification kinematics dynamics

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Path Planning and Decision Making for Autonomous Vehicle in Urban Environment

Path Planning and Decision Making for Autonomous Vehicle in ...

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International Conference on intelligent Transportation

作者： Mengyin Fu Wenjie Song Yang Yi Meiling Wang State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institution of Technology Beijing P. R. China State Key Lab. of Intell. Control & Decision of Complex Syst. Beijing Instn. of Technol. China

ISBN: (纸本)9781467365970

In this paper, we focus on the need for autonomous vehicles' path planning and decision making in the urban environment. In our modified method, traffic lanes, road edge and geographic information system(GIS) are integrated to generate three structured road models, which can be used to reduce car's lateral positioning error and guarantee car's driving stably without a precise pre-computed map for localization. Based on these models, car's position, attitude and speed are taken into account to find an optimal guided path and a suitable behavior strategy to keep our car obeying traffic rules. Thus, in the whole architecture, the instability of some modules' detection results and low positioning accuracy of GPS receiver is resolved. Applied to our autonomous vehicle - IN 2 BOT, which has taken part in "Chinese intelligent Vehicle Challenge" for many times, this method is proved more effective than our previous method after experiments under various conditions.

关键词： Path planning Roads Vehicles Decision making Planning Mobile robots Image edge detection

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Removing water fluctuation via motion field-based kernel regression

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Journal of Information and Computational Science 2014年第15期11卷 5289-5296页

作者： Hu, Wenrui Xie, Yuan Zhang, Wensheng Tan, Yuanhua State Key Lab. of Intelligent Control and Management of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Karamay Hongyou Software Co. Ltd. Xinjiang China

A new approach is proposed in this paper to recover the original image of an underwater scene from a given sequence distorted by water fluctuation. The contribution of our method is to use a motion field-based kernel regression to reconstruct an undistorted image. It first utilizes the image registration method to generate registered frames and the corresponding motion fields, and then detect a set of stationary patches from registered frames by calculating the movement energy of local regions. Finally, a temporal kernel regression is carried out to combine the detected stationary patches to reconstruct an undistorted stationary image. Experiments illustrate that this approach can effectively alleviate distortions and significantly improve visual quality of the distorted images. Copyright © 2014 Binary Information Press.

关键词： Image registration

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New approach of energy management in electric vehicle

New approach of energy management in electric vehicle

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International Conference on Modelling, Identification and control (ICMIC)

作者： Insaf Yahia Chokri Ben Salah Mohamed Faouzi Mimouni Department of Electrical Engineering National Research Unit on Study of the Industrial Systems & Renewable Energies (ESIER) Monastir Tunisia Control and Energy Management Lab. (CEMLab) National School of Engineers of Sfax Sfax Tunisia ENIM Research Unit on Study of the Industrial Systems & Renewable Energies (ESIER) Monastir Tunisia

Electrical vehicle has the advantage of being friendly with environment but it does not have yet same performance as a current conventional vehicle. This work, propose strategy to improve the autonomy of electrical vehicle; at first, a model of electrical vehicle which combine lead acid batteries and DC motor is described. Moreover, control speed strategy used fuzzy logic is applied to the system to produce a maximum speed reference of EV under different state of charge of the battery and acceleration. Then, proportional integral control adjusts speed strategy. For different scenario, simulation is realized in MATlab.Simulink show good efficiency.

关键词： Batteries Vehicles Mathematical model Acceleration Fuzzy logic DC motors Rotors

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A Low-Cost Vision-Based System for Displacement Analysis in Earthquake Research

A Low-Cost Vision-Based System for Displacement Analysis in ...

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RSI/ISM International Conference on Robotics and Mechatronics

作者： Bijan Binaee Mahyar Khayatkhoei Hadi Moradi Amirhossein Nazemi Abdollah Hosseini Control and Intelligent Processing Center Advanced Robotics and Intelligent Systems Lab School of ECE University of Tehran Intelligent Systems Research Institute SKKU South Korea School of Civil Engineeringg College of Engineering University of Tehran

ISBN: (纸本)9781467372350

Measuring linear and angular displacement with high accuracy requires expensive equipment and may interfere with the measurements due to sensors weight and size. In this paper, we propose a low cost vision based approach for measuring linear & angular displacement that can make the earthquake research more *** keep detecting process as fast as possible and meet real-time demands, a typical marker with a peculiar color inside chooses and all instructions performed by Intel CVLib filters. So according to the tests, if the minimum requirement are met, the proposed method can detect marker up to 25 frames per second. Finally, a prototype software implemented to analysis functionality and accuracy of proposed algorithm. The results shown that this vision-based method can achieve accuracy of 0.1mm, with an off-the-shelf three pixel per millimeter, and it can be perfectly used instead of traditional instruments such as LVDT.

关键词： Rotoray-displacement tracking displacement tracking LVDT instrumentation shaking table seismology image processing

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Enhancing SCIG-based wind turbine generator performance through reactive power control

Enhancing SCIG-based wind turbine generator performance thro...

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Clemson University Power systems Conference (PSC)

作者： Ashkan Edrisian Arman Goudarzi Innocent E. Davidson Afshin Ahmadi G. K. Venayagamoorthy Department of Electrical Engineering Sciences Research Branch Islamic Azad University Birjand Iran HVDC/Smart Grid Research Centre University of KwaZulu-Natal Durban South Africa Real-Time Power and Intelligent Systems Lab. Clemson University Clemson SC USA

Increase in the market share of wind energy in total electricity generation and its impact to power grid has imposed new challenges to the stability of each wind turbine generator (WTG) unit. In the case of power undersupply, the problem on voltage stability and voltage collapse will eventually occur. In this paper, the impact of reactive power control in improving the performance of squirrel cage induction generator-based (SCIG-based) WTGs is presented. In the asynchronous operation of induction machine, the increment of wind power generation is feasible by absorption of more reactive power. Increasing the reactive power consumption of induction generator results in reduction of voltage in the bus connected to the wind farm from the grid. In this scenario, inadequate reactive power control can lead to instability in the power network. The studies conducted in this paper are based on the quasi-static time-domain simulations (QSTDS) and continuation power flow (CPF) algorithm framework. The results obtained indicate that with increment of wind power penetration in a power system, adequate reactive power support is required to maintain stability, else the stable performance of the wind farm will be threatened and will lead to over-speeding of SCIGs. The use of SVC and STATCOM as a practical solution in improvement of wind farms-based power system stability is investigated and presented.

关键词： Reactive power Wind farms Power system stability Wind turbines Wind speed Stability analysis Generators

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