Conference Program of WCICA 2012

Conference Program WCICA 2012
of mission-planning for lunar rovers, a planning domain modeling technology
has been put forward, taking account of lunar terrain traversabilities,
earth communication opportunities, solar energy requirements,
temperature limits and mechanical interventions. When rovers traverse
on the moon, a dynamic searching algorithm called SD*Lite is developed.
All way stations along the path from start station to ending station
and working mode sequence at each way station can be gained based
on the searching algorithm.
◁ PFrC-52
A Cognizing Topology Map Building in A Wide-Range Indoor Structural
Environment, pp.3794–3799
Wu, Hao
Tian, Guohui
Zhou, Fengyu
Shandong Univ.
Shandong Univ.
Univ. of Shandong
When the exploration scope of the robot is expanded to large regions,
the problem becomes more prominent. In this paper, artificial labels
are used to provide semantic concepts and relations of the surrounding,
which can solve the complexity and limitations of semantic recognition
and scene understanding only with robot’s vision. Imitating s-
patial cognizing mechanism of human, the robot constantly receives
the information of artificial labels at cognitive-guide points in a wide
range of structured environment to achieve the perception of the environment
and robot navigation. Immune network algorithm is used to
form the environmental awareness mechanism with ”distributed representation”.
Color recognition and SIFT feature matching algorithm are
fused to achieve the memory and cognition of scenario tag. Then the
cognition-guide-action based cognizing topology map is built. Along
with the continuously abundant map, the robot need not rely on the artificial
label forever, and it can plan path and navigate freely. Experiment
results show that the artificial label designed in this paper can improve
the cognitive ability of the robot, navigate the robot in the case of indoor
structural environment, and build the cognizing topology map favorably.
◁ PFrC-53
Design and Analysis of A Light Wall-Climbing Robot, pp.3805–3809
Ke, Zibo
Zhou, Yulan
Yu, Zhiqiang
Yantai Univ.
Yantai Univ.
Univ. of Yantai
The paper is to design a light wall-climbing robot,using vacuum adsorption
and quadruped robot as method, analyzing the principles of
the pneumatic control and making specific design. Then, a mechanism
design to simulate the movement of leg is presented in this paper
,researching the effects of the parameters, and choosing appropriate
parameters to design leg mechanism. In conclusion, simulation and
analysis are made based on Pro/E.
◁ PFrC-54
A Novel Semi-Autonomous Throwbot for Reconnaissance Application,
pp.3822–3827
Li, Yue
Beijing Inst. of Tech.
In this paper, a miniature reconnaissance robot with the functions of
anti-impact and semi-autonomous motion is presented. The throwbot
could be thrown or shot in the building by the soldier for real-time detection
in anti-terrorist scene. A prototype has been developed to illustrate
the concept. The finite element analysis and thrown experiments
confirm the anti-impact ability of the mechanism. Besides working in
telecontrol mode, the robot could explore regional area autonomously,
which simplifies the teleoperator’s operation. The experiments show
that the behaviour-based intelligent control strategy is fit for the robot’
s application at last.
◁ PFrC-55
The Design of a New Upper Limb Rehabilitation Robot System Based
on Multi-source Data Fusion, pp.3840–3845
Meng, Fancheng
Beijing Inst. of Tech.
The aim of the paper is to develop a upper limb rehabilitation robot
system (DPRs) capable of making both patient assessment and robotaided
assessment. Using the rehabilitation robot system, patients can
repeatedly train in high efficiency and can replicate many of the human
training. In the paper ,First a diamond rehabilitation robot(DR)was desigend
and its model was also given .Then an evaluation unit to improve
patient assessment based on multi-source data fusion tecnology was
proposed, the evaluation unit mainly was used to yeild a qualititative
value based on the quantitative analytical models ,and then according
to the qualititative value of the performance evaluation and active index,
a resistance/assistance control strategy was designed to realize
rehabilitation training more effectively. Finally the rehabilitation robot’
s control system was simulated and analyzed.Experiments showed that
the DPRs purposed is helpful for the disabled patients and it can coordinate
and train the patient’s upper limb comfortingly and safely,and
also has dynamic performance and high flexibility.
◁ PFrC-56
Determining the Feasible Set of Motion States in Target Tracking Using
Extended Set-Membership Filter, pp.3876–3880
Qiu, Quan Beijing Research Center of Intelligent Equipment
for Agriculture
Zheng, Wengang
Han, Jianda
Beijing Research Center of Intelligent Equipment
for Agriculture
Shengyang Inst. of Automation,CAS,China
This paper presents a new object recognition strategy for target tracking
using extended set-membership filter (ESMF). Before the target recognition
algorithms are applied on the sensory information, ESMF is employed
to determine the demarcation of a guaranteed searching area in
which the true position of the target can be certainly found. Then the
target recognition algorithms will work in a smaller region rather than
searching in the whole range of the sensory information. The new s-
trategy can improve the speed and accuracy of the target recognition
algorithms. Experiments are conducted to prove the feasibility of the
strategy.
◁ PFrC-57
Research on Dive Plane Trajectory Tracking Control Method of AUV
Under Current Disturbance, pp.3887–3891
Yan, Zheping
Deng, Chao
Zhou, Jiajia
Zhao, Yufei
Harbin Engineering Univ.
Haerbin Engneeing Univ.
Harbin Engineering Univ.
Harbin Engineering Univ.
In order to realize the dive plane trajectory tracking control for AUV under
the current disturbance, state-dependent riccati equation algrithom
is presented for trajectory tracking. When AUV far away from trajectory
point, driving pitch angle same as line-of-sight angle, when AUV nearby
the trajectory point, make the velocity vector of AUV same as the trajectory
tangent vector. In order to realize the rudder saturated constraints
problem, introducing the hyperbolic tangent S type function, equivalent
substitution rudder Angle variables. Through the pseudo-linearization
of dynamic equations, and calculation of Algebraic Riccati equation,
the nonlinear feedback control law is obtained. Avoid the errors caused
by the traditional processing of linearization. The method is simple in
structure, convenient design. The simulation results show that the proposed
controllers can effectively overcome current disturbance, realize
longitudinal plane trajectory tracking control of AUV.
◁ PFrC-58
Damping Control of Rehabilitation Robot for Upper Limbs, pp.3898–
3902
Li, Qingling
Song, Yu
China Univ. of Mining & Tech., Beijing
Beijing Jiaotong Univ.
Active motions of upper limb is an absolutely necessary and effective
means for paralysis patients recovery. This paper describes a force
based active rehabilitation method supplied by an wearable exoskeletal
rehabilitation robot. In order to predict motion intention of patients accurately,
static model of the robot is built. Random Sample Consensus is
introduced to calibrate static parameters. On this basis, terminal force
control method based impedance control theory is study for the robot
motions. Experimental results show that the proposed active damping
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