Conference Program of WCICA 2012

WCICA 2012
Book of Abstracts: Friday Sessions
rehabilitation strategy can be applied to patients after stoke at different
recovery stage.
◁ PFrC-59
Human-machine Interfaces based on Electromyography and Kinectapplied
to Teleoperation of a Mobile Humanoid Robot, pp.3903–3908
Wang, Baocheng
Yang, Chenguang
Xie, Qing
Shanghai Jiao Tong Univ.
Univ. of Plymouth
the Ruijin Hospital, Shanghai Jiao Tong Univ.
Human-robot control interfaces have received increased attention during
the past decades.With the introduction of robots in everyday life.
In this paper, a novel Human- Machine Interface (HMI) is developed,
which contains two components: one is based on the surface electromyography
(sEMG), which is from muscles of the human upper limb
and the other is based on the Microsoft Kinect sensor. Two major features
of such interface are their relatively simple data acquisition and
processing systems, which need just a few hardware and software resources.
The proposed interface allows the user to control in real time
an mobile humanoid robot arm in 3-D space, using upper limb motion
estimation based only on sEMG recordings and the Kinect input. The
efficiency of the method is assessed through real-time experiments, including
random arm motions in the 3-D space with variable hand speed
profiles.
◁ PFrC-60
The development of an Exoskeleton Robot forCo-Manipulation of Human
Upper Limb Movement, pp.3909–3914
Ye, WenJun
School of Naval Architecture, Ocean & Civil
Engineering
Yang, Chenguang
Xie, Qing
Univ. of Plymouth
Ruijin Hospital Luwan branch
In this paper, an exoskeketon robotic device is developed mainly for
support and rehabilitation, as well as improvement of human capabilities.
In order to enhance their ability to finely interact with a human
limb, it is necessary to develop a control interface for exoskeletons,
which would guarantee comfort and safety, as well as efficiency and robustness.
The developed exoskeleton robot utilizes electromyographic
(EMG) signals from muscles of the upper limb to estimate human arm
motion, and robust motion control is proposed to deal with the dynamics
of robot and human upper limb and fulfill the co-manipulation of
human-robot. The extensive experiments are conducted to validate the
effectiveness of system.
◁ PFrC-61
Distributed Control for Mobile Robots Using PSD Sensors, pp.3943–
3947
Ge, Bin
Zou, Xuan
Yasuda, Gen Ichi
Dalian Univ.
Dalian Univ.
Nagasaki Inst. of Applied Sci.
This paper presents an experimental study of environment recognition
and movement control of an autonomous two-wheeled mobile robot using
infrared range finding sensors. Multiple PSD sensors are arranged
to detect obstacles and walls in the surroundings of the robot, and environment
features are estimated using a set of range sensors data. The
experimental mobile robot uses incremental encoders mounted on the
wheels to locate itself in a small area. Using these sensors, some intelligent
behaviors, such as wall following and obstacle rounding, have
been implemented. Upon these behavior modules, the behavior control
system is constructed for sensory navigation without any environment
map and global self-localization. The experimental results show that
the mobile robot can carry out a navigation task, even when the robot
knows little about the environment.
◁ PFrC-62
Research and Design of Expert System for Urban Transit Train Signal
System, pp.3983–3986
Zou, Hui
Shanghai Jiaotong Univ.
This paper designs an expert system which can apply for analyzing on
urban transit train signal system blocking. The system can be used for
blocking and analyzing in various blocking signal systems. In the end,
a urban rail transit has been designed by the system, and the results
verify that the system is effective
◁ PFrC-63
Distributed containment control of networked fractional-order systemswith
multiple leaders, pp.3987–3992
Liu, Xueliang
Xu, Bugong
SCUT
South China Univ. of Tech.
This paper is concerned with a containment problem of networked
fractional-order system with multiple leaders under a fixed directed interaction
graph. Based on the neighbor rule, a distributed protocol is
proposed in delayed communication channels. By employing the algebraic
graph theory, matrix theory, Nyquist stability criterion and frequency
domain method, it is analytically proved that the whole follower
agents will flock to the convex hull which is formed by the leaders.
Furthermore, a tight upper bound on the communication time-delay
that can be tolerated in the dynamic network is obtained. As a special
case, the interconnection topology under the undirected case is
also discussed. Finally, some numerical examples with simulations are
presented to demonstrate the effectiveness and correctness of the theoretical
result.
◁ PFrC-64
Multiple UAVs Collision Avoidance Trajectory Coordination Using Distributed
Receding Horizon Optimization , pp.3999–4003
Peng, Hui
PLA Univ. of Sci. & Tech.
To the problem of multiple UAVs collision avoidance trajectory coordination
in the same aerial space, a distributed receding horizon optimization
model was established. Then, a state prediction based trajectory
coordination algorithm was presented. Several simulation results show
that our method can bring a within-network collision avoidance capability
for multiple UAVs, and multiple UAVs can coordinate with each other
effectively on condition that there are communication link between two
conflict UAVs.
◁ PFrC-65
Research on the Spatial Diffusion of Industrial Clusters based on WH
Migration Model, pp.4016–4019
Li, Munan
South China Univ. ot Tech.
Recently, the diffusion behavior of industrial clusters has become one of
the vital important phenomenons of the clusters upgrade or regulation.
In this paper, we referred one of the classic immigration model based
on the theory of phase-transition, which was brought by Weidlich and
Haag; and adjusted the WH immigration model to explain the diffusion
of the clusters. Finally, we got a novel immigration model of enterprise
agents whose conclusions’are consistent with the empirical analysis
of the ceramic cluster in Foshan city.
◁ PFrC-66
Design and Research of Time-Varying Delay Teleoperation, pp.1666–
1669
Cui, Yan
Ju, He-Hua
Cao, Ping
Dong, Guocheng
Beijing Univ. of Tech.
Beijing Univ. of Tech.
INNER MONGOLIA MENGDA NEW ENERGY
CHEMICAL INDUSTRY BASE DEVELOPMENT
CO.,LTD
Beijing Univ. of Tech.
this paper designs a new program for mobile robot teleoperation system
based on time-varying delay. Then, based on the stability and traceability,
external-gain method and two-way symmetrical PID feedback is
introduced. Moreover, the stability of system is analyzed and verified
by Passive Theory and Lyapunov Theorem. At last, experimental results
show that the program can ensure the stability and improve the
traceability effectively.
◁ PFrC-67
Simulation Study on Low Voltage Operation of DFIG During Grid Three
Symmetric Short Circuit Fault, pp.1936–1941
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