Conference Program of WCICA 2012

Conference Program WCICA 2012
manipulator are concerned. To get a closer dynamic behavior of the real
system, both the flexible manipulator linkage and the actuator dynamics
are considered. The exact dynamic model of flexible manipulator is derived
using Lagrange principle and assumed modes method. The partial
decoupled dynamic equation is derived using nonlinear decoupling
feedback control method. The whole dynamic model is established by a
driven Jacobin matrix, which represents the coupling between hydraulic
servo system and mechanical system. A variable structure controller
with inverse dynamics is designed for trajectory tracking. To weaken
the chattering of control signal, saturation function is used to instead of
sign function. The experimental results investigate the effectiveness of
the proposed approaches.
◮ FrB07-2 16:10–16:30
Data Acquisition and Processing of the Onboard Sensor System of a
Quadrotor Unmanned Aerial Vehicle, pp.3705–3710
Guo, Fang
Xian, Bin
Li, Haotao
Huang, Guoping
Zhao, Tingting
tianjin Univ.
Tianjin Univ.
Tianjin Univ.
automation
Tianjin Univ.
In recent years, quadrotor helicopter has become a hotspot of the research
about unmanned aerial vehicles (UAVs). The data acquisition of
the vehicle’s attitude and position in real time is important to achieve
autonomous flight control for quadrotor UAVs. In this paper, an ARM
embedded system is employed as the main controller, and an attitude
heading reference system (AHRS) is utilized as the main onboard sensor.
By using C++ programming under Linux operation system, the
data acquisition and processing of the AHRS is implemented, and then
the attitude and position data of the quadrotor UAV are obtained in real
time to provide reliable flight state information for the autonomous
flight control. The on-board flight data is sent to ground control system
and stored via a communication module based on the UDP network
protocol.
◮ FrB07-3 16:30–16:50
Research on the Ground Control System of Quadrotor Unmanned Aerial
Vehicles, pp.3776–3781
Zhao, Tingting
Xian, Bin
Yang, Yungao
Guo, Fang
Huang, Guoping
Tianjin Univ.
Tianjin Univ.
Tianjin Univ.
tianjin Univ.
automation
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.
◮ FrB07-4 16:50–17:10
SINS Initial Alignment Using Wavelet De-noising Method for Aircraft
Navigation, pp.3921–3926
ILYAS, MUHAMMAD
YANG, Yunchun
Ren, Zhang
Beihang Univ.
NavTech.
Beihang Univ.
The error in the initial attitude determination is one of the most crucial
sources of error for accurate inertial navigation. Estimation of the initial
attitude angles accurately is the guarantee of precise determination
of the position, velocity and attitude of a moving platform. For military
aircrafts, the high precision and short time of initial alignment are
key requirements. The required inertial signals (accelerometer specific
force and gyro rates) are buried in high frequency measurement noise.
When the aircraft engine is power on, the high frequency noise is introduced
due to engine vibration and other disturbances. Kalman filter
have been extensively used for initial fine alignment of Strapdown Inertial
Navigation Systems (SINS). In this paper, Multi-resolution wavelet
de-noising (MRWD) method is proposed to eliminate the high frequency
noise from inertial sensor measurements before using for initial fine
alignment. The proposed method is tested using real data sets collected
when vehicle engine was power on. It has been observed that
the accuracy of initial alignment can be improved through the proposed
method.
◮ FrB07-5 17:10–17:30
Orientation Coordination of Multiple Robots based on a Nonlinear Consensus
Algorithm, pp.3788–3793
Xing, Guansheng
Sun, Hexu
Chen, Haiyong
Liu, Ning
Hebei Univ. of Tech.
Hebei Univ. of Tech.
Hebei Univ. of Tech.
hebei Univ. of Tech.
In this paper we design a control strategy for orientation coordination
of multiple mobile robots system based on a nonlinear consensus algorithm.
By using the nonlinear terms defined to indicate the orientation
difference among neighbors, each robot control its own motion
direction, and then all robots’orientations converge to the average of
their initial values. A scheme of communication topology design is proposed.
It is proved that the coordinated control algorithm distributed
on that kind of topology can make multiple single integrators with input
limits reach average consensus. Finally, the comparison of the numerical
simulation results under conditions of two different topologies shows
the effectiveness of the control algorithm.
◮ FrB07-6 17:30–17:50
Octree-based Spherical hierarchical model for Collision detection,
pp.3870–3875
Ouyang, Fan
Zhang, Tie
South China Univ. of Tech.
South China Univ. of Tech.
This paper has analysed the most commonly used three bounding representation
for robot links at the beginning. after that, the advantages of
hierarchical structure and Octree data structure are presented. Moreover,
this paper has proposed an octree-based Spherical representation
which has both of the advantages of octree structure and spherical
bounding representation. Two main parts of the proposed representation
model are described in details which include Octree-based cube
model and three-layer cuboid model. In addition, principles of collision
detection and procedures of establishing the model are also given. finally,
an example of collision detection in two-robot system is given
using the proposed models. The result indicates the proposed model is
effective for the collision detection of two-robot system.
◮ FrB07-7 17:50–18:10
Evaluation of Task Realizability for Robot Systems in Representation
Space, pp.3816–3821
Wu, Ban
Su, Jianbo
Shanghai Jiao Tong Univ.
Shanghai Jiaotong Univ.
This paper investigates task realizability for robot systems with a representation
space-based technique. It is a general technique which can
be applied to different robot systems with various tasks. In this paper,
initial results on evaluation of motion planning tasks are presented
to show the effectiveness of the proposed technique. Path planning
tasks of a two-link revolute manipulator in presence of obstacles are
exemplified. Optimal strategy for a realizable task is solved out, while
root causes for unrealizable tasks are diagnosed and strategies are designed
to fix unrealizable tasks. Simulation results demonstrate that the
proposed technique helps in determining whether a task is feasible and
fixing infeasible tasks.
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