Conference Program of WCICA 2012

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Conference Program WCICA 2012 BIAN, Xinqian Jia, Heming Harbin Engineering Univ. Northeast Forest Univ. Towards the diving control of an autonomous underwater vehicle (AUV), a robust controller built upon L2 disturbance attenuation method with recursive backstepping technique is addressed. External disturbances are eliminated through L2 controller. A robust controller incorporated with switching control scheme is proposed against the parameter uncertainties with guaranteed stability. Different from conventional parameter adaptive learning method, the decreasing problem of learning precision can be avoided due to the fast varying of uncertain parameters, and parameter switching law can be obtained through the Lyapunov stability theory. The proposed controller yields asymptotical convergence to the given depth for the vehicle. Finally, simulation experiments are employed to illustrate the effectiveness of the proposed control scheme. FrA06 13:30–15:30 Room 302 Modeling Chair: INOUSSA, GARBA Central South Univ. Co-Chair: Liu, Xi Beijing Univ. of Civil Engineering & Architecture ◮ FrA06-1 13:30–13:50 Research on Multi-zone VAV Air Conditioning System Modeling, pp.2968–2972 Liu, Xi Beijing Univ. of Civil Engineering & Architecture Variable air volume systems are nonlinear, time-varying and multivariable with large time delay. Model predictive control can achieve satisfactory stability and energy-saving, the performance of which depends on precision and generalization capability of the predictive model. To overcome difficulties in modeling by mechanism, this paper proposes a modeling method of multi-zone VAV systems based on neural networks. The factors influencing on the sensible cooling load and coupling between zones are analyzed and consequently the structure of the neural network model is determined. In order to fully demonstrate the dynamic characteristics of the VAV system, neural network training samples cover all the VAV dynamic range. To increase generalization capability, Bayesian regularization algorithm is used to train the network. Experimental results show that the neural network predictive model has satisfactory accuracy and good generalization performance. ◮ FrA06-2 13:50–14:10 Modeling for flying boats in regular wave, pp.3019–3024 Zhu, Yinggu Fan, Guoliang Yi, Jianqiang Inst. of Automation, Chinese Acad. of Sci. Inst. of Automation, Chinese Acad. of Sci. Inst. of Automation, Chinese Acad. of Sci.,China Although flying boats have been studied for over one hundred yeas, simulation of flying boats in waves and controllers designing for flying boats are still new research fields. After analyzing the forces acting on a flying boat, the flying boat is modeled in this paper as a special airplane. The forces from water are discussed and calculated by the 2-dimensional (2D) strip theory which is widely used in the force approximation of planing crafts. And the model is validated by experiment data, which shows the mathematical model has an acceptable performance on the motion-prediction of the flying boat in water with regular waves. ◮ FrA06-3 14:10–14:30 EBE-based Parallel Finite Element Analysis of Electric Field in Aluminum Reduction Cell, pp.2939–2943 Zhao, Xianyong Chen, Xiaofang Gui, Weihua Central South Univ. Central south Univ. Central South Univ. Finite element analysis for large-scale complicated structure such as aluminum reduction cell makes higher demand on memory capacity and calculation speed, which often results in failure or inefficiency of traditional serial computation for such large-scale problems. Finite element EBE-PCG algorithm is proposed on the basis of EBE(Element- By-Element) idea and Jacobi preconditioned conjugate gradient(PCG) method. The main difficulties in parallel implementation of this algorithm are discussed and solved, such as data organization of grid model, mixed elements processing and data communication. Subsequently, parallel program of finite element analysis based on EBE-PCG is developed using C language and MPI standard library, and then applied to numeric simulation of electric field distribution in aluminum reduction cell. The computational accuracy of parallel program developed is verified through comparison with commercial finite element software AN- SYS. Experiment results show that the method is of very high parallel efficiency and can greatly shorten the calculation time, which indicates the effectiveness of EBE’s use in parallel computation of large-scale complicated structures. ◮ FrA06-4 14:30–14:50 Quality Model for Integrated Security Monitoring and Control in Water Distribution Systems, pp.3107–3112 Zubowicz, Tomasz Arminski, Krzysztof Brdys, Mietek Gdansk Univ. of Tech. Gdansk Univ. of Tech. Gdansk Univ. of Tech. This article addresses the problem of drinking water distribution system (DWDS) security in the terms of water quality which in the era of terrorist threat is of high importance to the public. The contribution of this paper is the development of the so called security module to extend a multi-species water quality model. This gives an insight to the situation in DWDS not only under normal operational conditions but also in case of a malicious attack on water quality. Moreover the security inputs are formally introduced to the model structure. This module enables simulation of both bacterial and/or chemical water contamination in DWDS environment. Previously defined inputs are utilised in proposed experiments by an attacking agent to influence the DWDS quality. The purpose of model development is to enable water scientists and water authorities to simulate the contamination propagation pathways and mechanisms throughout the network without omitting the ’natural’water chemistry effects. A simple simulation example for the exemplary DWDS illustrates the model performance for two distinct contamination scenarios. ◮ FrA06-5 14:50–15:10 Model Establishment and Simulation for Finite Length Cylindrical Surface Heat and Moisture Transfer outside the Borehole, pp.3242–3247 Zhang, Yating Jiang, Dawei Zhang, Ye Beijing Univ. of Tech. Beijing Univ. of Tech. Beijing Univ. of Tech. Basing on the cylindrical heat transfer model of vertical ground source heat exchanger, and according to the mass conservation and energy conservation theorem, established a finite length cylindrical heat and moisture transfer model for soil layer around the borehole. Simulated the non-steady-state heat and moisture transfer of soil layers around the heat exchanger under summer operating conditions by using COM- SOL multi-physics coupling analysis software, and analyzed the influence of different soil thermal properties and initial moisture contents in temperature field and moisture field of soil layers exerted by the heat and moisture transfer. ◮ FrA06-6 15:10–15:30 Marine Vehicle Modeling and Tracking Using Wavelet Type Nets Model, pp.3118–3125 INOUSSA, GARBA Peng, Hui Central South Univ. Central South Univ. The main objective of this paper is to address the tracking control problem of a ship moving with a constant velocity along a desired path. To this end, a combination of mathematical model (MM) and statistical model, namely the expanded exponential weight wavelet network based ARX (E-EW-WNN-ARX) model is proposed as internal predictor of a model predictive controller (MPC). Firstly, the EW-WNN-ARX model is used to describe the ship motion between the difference of heading angle deviation and the rudder angle of the ship. To represent the ship’s motion nonlinearity, the rolling angle is used as the EW- WNN-ARX model index to allow the model parameters to vary with the ship moving state. The EW-WNN-ARX model is identified off-line by 96
WCICA 2012 Book of Abstracts: Friday Sessions using previously observed real data. Then The difference of heading angle deviation are expanded and integrated into mathematical model (MM) characterizing the position tracking error of the ship to form the E-EW-WNN-ARX-MM model which is used to develop a state space model that represent the ship tracking motion behavior. Finally, the i- dentified ship’s state-space type tracking motion model is used as predictor of a model predictive controller to steer ship moving forward with constant velocity along a predefined reference path. The effectiveness of the proposed modeling and control methods are demonstrated by the tracking control simulation in which the modeling data was obtained from the Shioji-maru experimental ship of Tokyo University of Marine Science and Technology of Japan. FrA07 13:30–15:30 Room 303 Robotics (I) Chair: Wang, Zhiying Co-Chair: Yi, Yang Harbin Inst. of Tech. Shenzhen Graduate School Zhejiang Univ. ◮ FrA07-1 13:30–13:50 An energy-based position control and asymptotic stability analysis for manipulator handling a flexible payload, pp.3617–3622 Liu, Shuyang Wang, Zhi-qian Qiao, Yanfeng Xie, Mujun Li, Yuanchun Jilin Univ. Changchun Inst. of Optics,Fine Mechanics & Physics,Chinese Acad. of Sci. Chinese Acad. of Sci. Changchun Univ. of Tech. Jilin Univ. Abstract - In this paper, an exact dynamic model of manipulator handling a flexible payload is derived using Hamiton’ s principle. We present a Lyapunov-based positioning controller for manipulator handling a flexible payload. On the basis of the distributed parameter model, the boundry feedback controller is constructed by applying the Lyapunov method. Using the LaSalle’s invariance principle and the characteristic of the differential operator, we prove the asymptotic stability in the neighbor-hood of the desired states of the closed-loop system. The effectiveness of the control strategy proposed is supported by some simulations. ◮ FrA07-2 13:50–14:10 A Novel Navigation Method, Optimal for Sloped Terrain, pp.3623–3628 Chen, Haotian Sun, Fengchi Song, Meng Li, Shulun Huang, Yalou Nankai Univ. Nankai Univ. Nankai Univ. Nankai Univ. Nankai Univ. Terrain with large areas of inclines is very common for mobile robot. Although sloped terrain has special property, available research does not pay special attention to slopes, which leads to less efficiency, weak adaptability and low operability in such environments. On the other hand, people usually have their own values and simply use their own experience to deal with slopes in their daily life which suggests an approach to robot navigation problem in sloped terrain. In this paper, we present a navigation method that consists of a formula for computing the directional-dependent cost related to slopes and a path planning algorithm for grid maps with slope cost. This paper also provides several experimental results in line with human values including zigzag paths and spiral paths. ◮ FrA07-3 14:10–14:30 Path planning for mobile robots with leg/wheel hybrid locomotion system on outdoor terrain, pp.3669–3674 Wang, Zhiying Ding, Xilun Harbin Inst. of Tech. Shenzhen Graduate School BeiHang Univ., China As the increasing of the population of leg/wheel robots in field trip, a typical path planning method is needed. This paper proposed a multi-layer strategy based on fuzzy logic for a multi leg/wheel hybrid mobile robot. Three main fuzzy logic controllers are proposed for adjusting direction, velocity and selecting locomotion type. Simulations were made step by step in Matlab. Positive results proved that our method is a possible solution. ◮ FrA07-4 14:30–14:50 Wasp Swarm algorithm on Terrain Coverage in Obstacle Environments, pp.3589–3594 Zhang, Guo-you Taiyuan Univ. of Sci. & Tech. Terrain coverage algorithm based on response threshold of wasp swarm in swarm robotics is inspired of the division labor of wasp swarm. Robots decide their moving directions by sensing their local environments, and finish the task of terrain coverage cooperatively. In this paper, we introduce the problem model of terrain coverage in swarm robotics, the response threshold model of wasp swarm, and describe the moving strategy of swarm robots based on response threshold model in obstacle environments in detail. The coverage performance of the algorithm is analyzed through various shapes of obstacle in simulation experiments, such as the rate of cell coverage, duplicated coverage number of cell and coverage time. Simulation results show the method is effective and feasible. ◮ FrA07-5 14:50–15:10 The Research of Shape-shifting Robot Skid-turning with Line Configuration, pp.3800–3804 Chang, Jian Wu, Chengdong Li, Bin Shang, Hong Shenyang Inst. of Automation (SIA), Chinese Acad. of Sci. northeastern Univ. Shenyang Inst. of Automation, Chinese Acad. of Sci. organization The shape-shifting robot AMOEBA-I has the ability to pass the narrow and small ruins space with the line configuration, but there are many restricts in use due to hard turning and large turning radius. In order to reduce the turning radius and the time of turning and enhance the compatibility of complex environment of robot, this article proposed a method that can make the robot turn more quickly and effectively. Through the establishment of mathematical model, the kinematics and mechanical properties of three modules are analyzed and the evaluation criterion is proposed for the performance of robot turning. At last, the validity and enforceability of the turning is proved by simulations and experiments. ◮ FrA07-6 15:10–15:30 Stable Running on A Kneed Biped Robot with Only Hip-joint Actuation, pp.3846–3851 Yi, Yang Lin, Zhiyun Yan, Gangfeng Zhejiang Univ. Zhejiang Univ. Zhejiang Univ. Passive dynamic locomotion is well-known for its fabulous advantages in energy efficiency. On level ground passive dynamic running (P- DR) has been found based on planar compass biped, with energypreserved strategy applied. This paper extends this PDR motion on flat to a compliant kneed biped robot. The robot consists of two identical legs, each of which has a massive thigh and a massless shank. The knee joints are elastic with torque springs, so that energy dissipation is avoided at landing. Passive gaits have first been demonstrated on this kneed biped robot, yet they are not stable. Note that there is only one actuation at the hip joint. The robot thus has three degrees of underactuation, which increases the difficulty of control design. We derive an event-based control law to stabilize the system, and add energy shaping part to enlarge the basin of attraction and also provide additional robustness. The effectiveness of our approach has been verified by numerical simulations. FrA08 13:30–15:30 Room 310 Invited Session: Applications of Semi-tensor Product in Information and Control Chair: Wang, Yuzhen Co-Chair: Chu, Tianguang Shandong Univ. Peking Univ. ◮ FrA08-1 13:30–13:50 97
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