Conference Program of WCICA 2012

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Conference Program WCICA 2012 KF) family of algorithms use a carefully selected set of sample points to more accurately map the probability distribution than linearization of the standard EKF, leading to faster convergence from inaccurate initial conditions in position and attitude estimation problems, which achieves an accurate approximation to at least second-order. Therefore, the performance of EKF and SPKF applied to tightly-coupled GPS/INS integration is compared in numerical simulations. It is found that the SPKF approach offers better performances over standard EKF. SaB02 15:50–17:50 Room 203B Robust Control (II) Chair: Brdys, Mietek Co-Chair: Zhu, Jiandong Gdansk Univ. of Tech. Nanjing Normal Univ. ◮ SaB02-1 15:50–16:10 Robust Adaptive Neural Network Control for Strict-Feedback Nonlinear Systems with Uncertainties, pp.1328–1333 SUN, Gang Wang, Dan Peng, Zhouhua Lan, Weiyao Wang, Hao Wang, Ning Dalian Maritime Univ. Dalian Maritime Univ. Dalian Maritime Univ. Xiamen Univeristy Dalian Maritime Univ. Dalian Maritime Univ. In this paper, we present a robust adaptive neural network control design approach for strict-feedback nonlinear systems with uncertainties. In the controller design process, all unknown terms at intermediate steps are passed down and approximated by a single neural network at the last step. By this way, the structure of the designed controller is much simpler, and the control law and the adaptive law can be given directly. The result of stability analysis shows that the proposed scheme can guarantee the uniform ultimate boundedness of the closed-loop system signals, and the control performance can be guaranteed by an appropriate choice of the control parameters. The effectiveness of the proposed approach is demonstrated by simulation results. ◮ SaB02-2 16:10–16:30 Design Robust Gain-Scheduling Multi-Objective Controller based on Iterative LMI, pp.1558–1563 Li, Wen Qiang Cao, Wenjing SU, Tao LI, Lian Naval Aeronautical Engineering Inst. Naval Aeronautical & Astronautical Univ. Naval Aeronautical & Astronautical Univ. Control Enginering The problem of robust gain-scheduling multi-objective was studied. Multi-channels was adopted to design robust gain-scheduling multiobjective controller for LPV systems with polytopic structure, the slack variables whose number can adjust was added for decoupling the systems matrix and Lyapunov functions, so the different Lyapunov functions can selected at different vertex. This method can reduce the conservatism of traditional method which use single Lyapunov function at every channel. The slack variables bring the bilinear matrix inequalities in the controller synthesized and a simple but available method to decide the initial value of the iterative LMI was proposed. At last, the robust gain-scheduling multi-objective controller was designed for active suspensions using proposed method, the multi-objective include pole placement and mixed H 2 /H ∞ . From simulation result, it can be seen that the performance was increased 30 percent, and the method was proved efficiency from simulation and theory. ◮ SaB02-3 16:30–16:50 Optimised Robust Placement of Hard Quality Sensors for Robust Monitoring of Quality in Drinking Water Distribution Systems, pp.1109–1114 Langowski, Rafal Brdys, Mietek Qi, Ruiyun Gdansk Univ. of Tech. Gdansk Univ. of Tech. Nanjing Univ. of Aeronautics & Astronautics A problem of optimised robust placement of the hard quality sensors in Drinking Water Distribution Systems under several water demand scenarios for robust quality monitoring is formulated. Numerical algorithms to solve the problem are derived. The optimality is meant as achieving at the same time a desired trade off between the sensor capital and maintenance costs and resulting robust estimation accuracy of the monitoring algorithm for several water demand scenarios insuring robustness with respect to the demand uncertainty. The robust estimation algorithm recently developed by the authors is applied as a soft quality in design of the sensor placement algorithms. The method and algorithm are validated by application to Chojnice DWDS case study. ◮ SaB02-4 16:50–17:10 Cooling Control of Aluminum Plate with a Peltier Device Thermal Process by Using a Robust Right Coprime Factorization Approach, pp.1115–1119 WANG, Dong-yun Zhang, Lei Zhongyuan Univ. of Tech. Zhongyuan Univ. of Tech. In this paper, an aluminum plate with a Peltier devices are used as a model. For the Peltier actuated thermal process is a nonlinear control affine system and the real system is usually contains fault owing to various factors, it is difficult to achieve excellent control consequent. In this paper, robust right coprime factorization is applied to analyse the thermal process. Then the derivation of the controller is also given for achieve robust stability and tracking performance. Finally, simulation and experimental results are presented to support the theoretical results. ◮ SaB02-5 17:10–17:30 Sliding Mode Control for Robust Consensus of Linear Multi-agent Systems, pp.1378–1382 Zhao, Ni Zhu, Jiandong Nanjing Normal Univ. Nanjing Normal Univ. This paper investigates the robust consensus problem for general highdimensional linear multi-agent systems with uncertainties. A distributed protocol based on sliding mode control is proposed to realize the consensus under matched uncertainties. For diminishing the chattering phenomenon, a second-order sliding mode protocol is designed. Finally, numerical simulations are given to verify the effectiveness of the proposed protocols. ◮ SaB02-6 17:30–17:50 Robust Altitude Control for a Small Helicopter by Considering the Ground Effect Compensation, pp.1796–1800 ROY, TUSHAR KANTI UNSW, Canberra, ACT 2600 In this paper, a nonlinear robust control technique is proposed to control the altitude of a small helicopter for hover as well as vertically takeoff/landing near ground surface in the presence of strong horizontal wind gusts. A heave motion model of small helicopter is considered to derive the proposed controller for the purposes of capturing dynamic variations of thrust due to the horizontal wind gusts and ground effect. A recursive (backstepping) design procedure is used to design the robust controller for vertical dynamics based on Lyapunov approach. Simulation results demonstrate that the proposed robust backstepping controller is capable of controlling the altitude for hover flight of a small helicopter near ground surface in the presence of strong horizontal wind gusts. SaB03 15:50–17:50 Room 203C Machine Vision Chair: Tong, Guofeng Co-Chair: YIN, Ziqiang Northeastern Univ. Inst. of Oceanographic Instrumention Shandong Acad. of Sci. ◮ SaB03-1 15:50–16:10 Research on Structured Light 3D Vision in the Remanufacturing System based on Robotic Arc Welding, pp.4527–4531 YIN, Ziqiang Inst. of Oceanographic Instrumention Shandong Acad. of Sci. Three-dimensional sensing technologies based on computer vision make it possible to rapid establish the three-dimensional model of the worn parts for remanufacturing system. This research design a novel structured light three-dimensional vision sensor for the remanufacturing system based on robotic arc welding. The sensor is mainly constituted of two devices: the MTC-368CB CCD camera and the ML-645 struc- 158
WCICA 2012 Book of Abstracts: Saturday Sessions tured light projector. The sensor system can be calibrated by a simple t- wo step calibration method. The three-dimensional sensing experiment and analysis are conducted to verify the feasibility and the practicality of the sensor system by taking a semi-cylinder, a mouse and a calibration block as remanufacturing object. The experiment results indicate that the maximum sensing error is less than 1 mm, which is acceptable for remanufacturing system based on robotic arc welding. ◮ SaB03-2 16:10–16:30 An Omni-directional vSLAM based on Spherical Camera Model and 3D Modeling, pp.4551–4556 Tong, Guofeng Wu, Zizhang Weng, Ninglong Hou, Wenbo Northeastern Univ. Northeastern Univ. ISE NEU This paper presents an efficient Omni-directional Visual Simultaneous Localization and Mapping (vSLAM) algorithm based on spherical camera model and 3D modeling. In the paper, the robot has the ability of Omni-directional vision, which makes the algorithm more adaptive in an unknown environment. To get spherical panoramic images, we choose the panoramic image acquisition and mosaic equipment (divergent camera cluster). The improved SURF on spherical image, is adopted for feature extraction and matching. According to the theory of multiple view geometry of the spherical camera model, the 3D modeling is conducted for the surrounding environment. By using the feature points with high robustness, the location and pose of the robot can be estimated. In the process of system updating, the particle filter combined with Kalman filter is used for it can perform well in a complex environment. The results of numerical simulations and experiments have been included in this paper to verify the performance of the proposed approach. ◮ SaB03-3 16:30–16:50 Tracking the Rotating Targets in Aerial Videos , pp.4574–4578 Dong, Qiang Liu, Aidong Huazhong Univ. of Sci. & Tech. Huazhong Research Inst. of Electro-Optical Tech. In aerial videos, there are two main situations where the appearance of a target would vary. One is occlusion, and the other is rotation of the target. The former could be solved by track forecast which may use Kalman filter, Particle filter or some other similar methods. Aimed at the latter situation, incremental visual tracking (IVT) has been brought up. However, in aerial videos the rotation of targets (vehicles mainly) mostly occurs in the imaging planes, where IVT cannot make the bounding box rotating the same rotation angle of targets. Accordingly, we present a tracking system with specially designed methods that solves the issue. And it could track the rotating target continuously and give out the rotation angle in aerial videos. With a rotatable bounding box to indicate the target, the observers would read the information from the screen more easily and the system would extract the target status more accurately. The system is developed employing Correlation analysis and Kalman ﬁlter as well. Experimental results are presented on several aerial video sequences captured by the authors. ◮ SaB03-4 16:50–17:10 UAV Image Denoising Using Adaptive Dual-Tree Discrete Wavelet Packets Based on Estimate the Distributing of the Noise , pp.4649– 4654 Liu, Fang Beijing Univ. of Tech. Unmanned Aerial Vehicles (UAV)digital images are often badly degraded by noise during dynamic acquisition and transmission process. Denoising is very important and difficult for UAV-vision Guided, because natural scene image is complicated and having lots of the edges and texture details. The image denoising algorithm based on adaptive dualtree discrete wavelet packets(ADDWP) which combine the dual-tree discrete wavelet transform(DDWT) and the wavelet packets is proposed in this paper. In ADDWP, DDWT subbands are further decomposed into wavelet packets with anisotropic decomposition, so that the resulting wavelets have elongated support regions and more orientations than DDWT wavelets. To determine the decompoisition structure, we using the signal-to-noise ratio to estimate the distributing of the denoising in order to search the more denoising subbands to decomposition it again. So we can get adaptive decompoisition structure of wavelet packets. The new algorithm has significantly lower computational complexity than a previously developed optimal basis selection algorithm. For denoising the ADDWP coefficients, a statistical model is used to exploit the relation of the coefficients in order to distinguish the noise and the signal. The proposed denoising scheme gives better performance than several state-of-the-art DDWT-based schemes for images with rich directional features. The visual quality of images denoised by the proposed scheme is also superior. ◮ SaB03-5 17:10–17:30 A Perception-motivated Image Interpolation Algorithm , pp.4754–4759 Zi, Lingling Du, Junping Liang, Meiyu Lee, JangMyung Beijing Univ. of Posts & Telecommunications School of Computer Sicence & Tech., Beijing Univ. of Posts & Telecommunications Beijing Univ. of Posts & Telecommunications Pusan National Univ. Image interpolation, or to obtain a high-resolution image from a corresponding low-resolution image, is still a hard question. In order to better solve this question, we demonstrate a partitioned image interpolation model and propose a perception-motivated image interpolation algorithm according to human eye visual mechanism (PMIA). The P- MIA main implementation includes two processes. Firstly the original image is divided into the attention region, the transition region and the general region and then different interpolation mode can be used based on different regions. Conducted experiments have shown that our algorithm can spend less time to produce the most satisfactory image. From the perspective of engineering application, our method can reduce the communication bandwidth and time consuming. ◮ SaB03-6 17:30–17:50 The Study on Infrared Image Mosaic Application Using Immune Memory Clonal Selection Algorithm, pp.4831–4836 Dong, Lin Fu, Dongmei Yu, Xiao Yang, Tao Univ. of Sci. & Tech. Beijing Univ. of Sci. & Tech.,Beijing Univ. of Sci. & Tech. Beijing Univ. of Sci. & Tech., Beijing Infrared imaging technology is widely used in industrial and military fields. When a large target need to be photographed but one picture could not accommodate; then several different areas of this target must be photographed firstly, afterwards these split areas need to make image mosaic. To do this, this paper proposes an image mosaic algorithm which is called immune memory clonal selection algorithm. The algorithm determines the matched positions of infrared images, after finding the feature points of infrared images by using Susan algorithms. Simulations of the proposed algorithm show that the method is effective. The algorithm is applicable not only in infrared image mosaic, but also in visible image mosaic with complex background. SaB04 15:50–17:50 Room 203D Industrial Automation and On-line Monitoring Chair: Li, Pingkang Co-Chair: Wang, Zaiying Beijing Jiaotong Univ. Xi’an Univ. of Sci. & Tech. ◮ SaB04-1 15:50–16:10 A Dynamic Relative Gain Array Based on Model Predictive Control, pp.3340–3344 JIANG, Huirong LUO, Xiong-lin China Univ. of Petroleum China Univ. of Petroleum Loop pairing is a major concern in the stage of decentralized control system design of complex industrial processes. Without regard to the effects of the dynamic interaction,RGA was transformed to other impoved dynamic relative gain array. A new approach to defining a new dynamic RGA (s-DRGA) is presented based on multivariable state feedback predictive control(SFPC). The approach assumes the availability both of steady state and a dynamic process model. The new DRGA 159
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WCICA 2012 The 10 th World Congress
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