Conference Program of WCICA 2012

WCICA 2012
Book of Abstracts: Saturday Sessions
◮ SaA04-4 14:30–14:50
An evacuation algorithm for large buildings, pp.2497–2502
Wang, Xingxuan
Liu, Huan
Fudan Univ.
Fudan Univ.
Evacuation in an emergency is always an important issue for large
buildings. The purpose of evacuation is to evacuate people in the shortest
possible time from a dangerous area to a safe place. In order to
complete the evacuation mission effectively, an effective algorithm is
needed. The proposed evacuation algorithm in this paper made a reasonable
model for the building and then starting from a single evacuee,
using recursive methods to get an optimal evacuation plan. This algorithm
overcomes the limitation of fast flow control algorithm which can’
t be applied in a multi-SN situation. Besides, because of the low complexity
of the algorithm, it can be used in real-time environments.
◮ SaA04-5 14:50–15:10
A Gradient Information Based Real Time Pricing Mechanism for Microgrid
in Energy Intensive Enterprise, pp.2473–2478
Wang, Zhaojie
Gao, Feng
Zhai, Qiaozhu
Wu, Jiang
Guan, Xiaohong
Zhang, Hao
Liu, Kun
Pan, Li
Dong, Mingyu
xi’an jiaotong Univ.
Xi’an Jiaotong Uni
Sys. engineering Inst.
Xi’an Jiaotong Univ.
Xi’an Jiao Tong Univ.
xian jiaotong Univ.
xian jiaotong Univ.
Corporate Tech., Siemens Ltd
Corporate Tech., Siemens Ltd
In energy intensive enterprises (EIE) with self generation power plant,
real time electricity cost is affected by dynamic change of its power
consumption and generation. Centralized power demand control is
usually hard to be used in EIE due to complex constraints of production
process. A rational price signal which is able to lead end users to reduce
power during peak hours or shift load from peak hours to off-peak
hours is valuable. A dynamic pricing mechanism in microgrid for EIE
is researched in this paper, aiming at reducing total electricity cost of
EIE. By typical case study, some reference ideas about dynamic pricing
problem for EIE microgrid are presented.
◮ SaA04-6 15:10–15:30
Online Strategy for Scheduling A Hydroelectric Station, pp.2479–2484
Ru, Hai
Gao, Feng
Guan, Xiaohong
Zheng, Fei Feng
Xi’an Jiaotong Univ.
Xi’an Jiaotong Uni
Xi’an Jiao Tong Univ.
Xi’an Jiaotong Univ.
The scheduling problem of reservoir hydroelectric station during the
flood season caused major concern in academia and industry many
years. Due to the uncertainty of flood, the schedule strategy should
guarantee the enough flood prevention capacity of hydroelectric, meanwhile,
a certain water head should also be kept in order to guarantee
the power generation efficiency. Therefore, it’s a challenging to design
the strategy of optimal scheduling for hydroelectric in flood season.
This paper in response to this objective, online algorithm will be
applied here to analysis optimal strategy, which manages the reservoir
scheduling in terms of online strategy and competitive analysis. Then
the evidence from Ankang reservoir are collected to test the competitive
ratio of online strategy. The result and model of the study in this
paper have guiding significance and reference value to decision makers
facing the similar situation.
SaA05 13:30–15:30 Room 203E
Control Engineering (I)
Chair: Hua, Changchun
Co-Chair: Wang, Fei
yanshan Univ.
Jilin Univ.
◮ SaA05-1 13:30–13:50
PD Control for Teleoperation System with Delayed and Quantized Communication
Channel, pp.2318–2323
Yang, Xian
Hua, Changchun
Inst. of Electrical Engineering, Yanshan Univ.
yanshan Univ.
Yan, Jing
Guan, Xinping
Yanshan Univ.
Shanghai Jiao Tong Univ.
This paper is concerned with the problem of teleoperation systems over
networks. As is well known, quantization and time delay are unavoidable
in computer network communications. Compared with previous
work, we consider both of them when analyzing such systems. The
controller used in this paper is proportional-derivative(PD) controller,
but the output signals of master and slave systems are quantized before
being communicated. New criteria are presented to show that the
controller can stabilize the master-slave system under variable time delay
and quantization. Finally, simulations are given to demonstrate the
effectiveness of our results.
◮ SaA05-2 13:50–14:10
LQR Control for a Self-balancing Unicycle robot, pp.1424–1429
Gong, Daoxiong
Pan, Qi
Zuo, Guoyu
Deng, Wenbo
Beijing Univ. of Tech.
Beijing Univ. of Tech.
beijing Univ. of Tech.
Beijing Univ. of Tech.
A self-balancing unicycle robot, which has a wheel for balancing and
movement in the longitudinal plane (pitch angle) as well as a flywheel
for balancing in the lateral plane (roll angle), is studied in this paper.
The non-linear dynamic equations of the unicycle robot on a slope are
analyzed using the Lagrangian dynamic formulation, then a linear model
of the robot is derived at the equilibrium point, and 3 linear quadratic
regulators (LQR) are designed to control the robot on slopes with the
angle of inclination varying from -11°to 11°. Simulation results validated
that the unicycle robot can achieve good performance both on
level plane and on slope.
◮ SaA05-3 14:10–14:30
Modeling and Control for an In-plane Morphing Wing, pp.1430–1435
Shi, Rongqi
Song, Jianmei
Beijing Inst. of Tech.
Beijing Inst. of Tech.
System modeling and controller design for an in-plane morphing wing,
which is proposed by NextGen Aeronautics, Inc., are investigated in the
present paper. The model of the morphing wing is developed based on
Lagrange method. The elastic forces of the skin and the aerodynamic
load acting on the leading edge are both taken into account. The generalized
forces are obtained by virtual work principle. Since the morphing
wing is a strongly coupled, over-actuated and nonlinear system with
multi-input and multi-output, the control system design includes a control
allocator, a dynamic inversion controller and two PID controllers.
The control allocator is designed base on pseudo inverse method; the
dynamic inversion controller is applied to make the original system decoupled
into two independent linear systems by proper nonlinear feedback
transformation; two classical PID controllers are adopted for the
linearlized systems. The correctness of the model is verified by ADAMS
simulation and the effectiveness of the control system is tested by Matlab.
The results indicate that, integrating Lagrange equation, pseudo
inverse control allocation, dynamic inversion control and classical PID
method, is an effective way to solve problems of modeling and control
for morphing wings.
◮ SaA05-4 14:30–14:50
Dynamics Modeling and Real-time Fault-tolerant Control of A Rotor
Aerial Robot, pp.1144–1149
Hou, Xuyang
Ruan, Xiaogang
Beijing Univ. of Tech.
Beijing Univ. of Tech.
The present micro aerial vehicle (MAV) is lack of maneuverability and
security when operates in the restricted environment. To solve such
problem, a rotor powered disk-type autonomous aircraft–Micro Aerial
Robot(MAR) was designed, which adopts built-in blades and redundant
actuators structure to enhance vehicle’s safety and robustness
,and adopts the inner and outer two rotor systems and disk-type airframe
structure, which help the MAR has better aerodynamic characters
and maneuverability compared to the common MAV. The six degrees
of freedom (6 DOF) dynamic model was built using the Newton
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