Conference Program of WCICA 2012

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Conference Program WCICA 2012 paper. Chen, Qijun Tongji Univ. ◮ SaB10-3 16:50–17:20 Integrated Vehicle Dynamics Control of an In-Wheel-Motor Vehicle, pp.2335–2339 Hirano, Yutaka Toyota Motor Corporation For future mobility intended to decrease energy consumption by applying smaller and lighter body and lower RRC (Road Resistance Coefficient) tires, there is a possibility that maneuverability and stability will become worse than current conventional vehicles. To solve this problem, a benchmark problem is settled by ‘Committee of vehicle control and modeling research’of JSAE aiming to utilize the knowledge of system control academia for actual industry problems. The problem is to develop an integrated control of independent driving / braking torque, steering angle and camber angle of each wheel of an in-wheel-motor vehicle for both improvement in vehicle maneuverability and stability index and also minimizing energy consumption. In this paper, definition of the problem, vehicle and test conditions and a model for the simulation are described. ◮ SaB10-4 17:20–17:50 SICE Benchmark Problem of Engine Control and a Challenging Results, pp.2340–2345 Shen, Tielong Zhang, Jiangyan Sophia Univ. Sophia Univ. As an internal combustion engines, automotive gasoline engines involve nonlinearities and stochastic characteristics that are usually difficult to handle in modeling and control. To promote the applications of advanced control theory in the engine systems, The SICE Technical Committee on Advanced Control of Automotive Powertrains proposed a benchmark problem that targets the starting speed control of the gasoline engine, since during the starting phase, the thermal property of the engine changes dramatically and causes the difficulty in control system design. This paper will give an detailed explanation of the benchmark problem statement first, and then introduce a challenging result proposed by the authors that shows the effectiveness of nonlinear modelbased, coordinative control between the multi-loops such as ignitions, injections of each cylinders and throttle operating. Experimental validations will be also demonstrated conducted on a commercial care used V6 engines. SaB11 15:50–17:50 Room 311C Invited Session: Control of High-Performance Engineering Systems Chair: Pang, Chee Khiang National Univ. of Singapore ◮ SaB11-1 15:50–16:10 Neural-Network Based AUV Path Planning in Estuary Environments, pp.3724–3730 Li, Shuai Guo, Yi Stevens Inst. of Tech. Stevens Inst. of Tech. For the path planning problem of autonomous underwater vehicles (AU- Vs) in 3-dimensional (3-D) estuary environments, traditional methods may encounter problems due to their high computational complexity. In this paper, we proposed a dynamic neural network to solve the AUV path planning problem. In the neural network, neurons get input from the environment, locally interact with the neighbors and update neural activities in real time. The AUV path is then generated according to the neural activity landscapes. Stability, computational complexity of the neural network, and optimality of the generated path are analyzed. AUV path planning in 3-D complex environments without currents, with constant currents, and with variable currents are studied through simulations, which demonstrate the effectiveness of this approach. ◮ SaB11-2 16:10–16:30 Leader-follower and communication based formation control of multirobots , pp.229–232 Wang, Zhuping Mao, Ying Chen, Guangmou Tongji Univ. Tongji Univ. Tongji Univ. In this paper, leader-follower strategy and communication technology are combined together to carry out the formation control of multiple nonholonomic mobile robots. The controller is proposed based on a kinematic model using Cartesian coordinates for the followers and a classical control algorithm for the leader is used. In order to improve the adaptability to the environment, communication based on a kind of cross-platform technology Qt is proposed to realize the selfpositioning and mutual communication among robots, in which multithreading technology is also adopted. Simulation results prove the effectiveness of the proposed plan. ◮ SaB11-3 16:30–16:50 Tracking Control for Nonholonomic Mobile Robots with Visual Servoing Feedback , pp.3864–3869 Wang, Baolei Wang, Chaoli Univ. of Shanghai for Sci. & Tech. Univ. of Shanghai for Sci. & Tech. This paper discusses a tracking control problem of nonholonomic mobile robots with visual servoing feedback. By comparing corresponding target points of an object from two different camera images, geometric relationships are exploited to derive a transformation that relates the actual position and orientation of the mobile robot to a reference position and orientation. This transformation is used to synthesize a rotation and translation error system from the current position and orientation to the fixed reference position and orientation. Lyapunov-based techniques are used to construct a robust controller to stabilize the error system with a constant, unmeasurable depth parameter. The contribution of this paper is that Lyapunov techniques are used to construct a robust controller that makes mobile robot position and orientation converge to the desired configuration despite the lack of an object model and the lack of depth information. Simulation results are provided to illustrate the performance of the controller ◮ SaB11-4 16:50–17:10 Consensus Output Regulation Without State Estimation, pp.2306–2311 Ding, Zhengtao Univ. of Manchester This paper deals with consensus output regulation of network connected multi-agent systems. Every agent or subsystem has identical dynamics, and it is required to follow a desired trajectory which is generated by a linear dynamic system, known as the exosystem. Only some subsystems have access to the desired trajectory, and other subsystems will have to reply on the exchange of information through the network. In this paper, a consensus control design is proposed to ensure that the outputs of all the subsystems converge to the same desired output trajectory by exploiting the internal model design strategy. The proposed control design only uses the relative outputs of the subsystems, and does not require the estimation of subsystem state variables. ◮ SaB11-5 17:10–17:30 design of decoders based on memristors, pp.5116–5121 Zhou, Jing National Univ. of Defense Tech. A Memristor is a nonlinear resistor with memory, and is considered as the fourth type of basic circuit element except resistor, capacitor and inductor. With special circuitry characteristics, memristor can be used for both information storage and logic operations. In traditional Von Neumann computer architecture, address decoder is an important component connecting processor and memory. This paper aims at designing a decoder based on memristors. We first analyze and model the characteristics of memristor with HSPICE, and then design decoders based on NOR and AND operation respectively with memristors and compare their performance. The experimental results and analysis show that our design is right in function and has good scalability. ◮ SaB11-6 17:30–17:50 The Charging and Discharging Characteristics of Memcapacitor Storage with Applications, pp.5139–5143 He, Pengfei Wang, Lidan Southwest Univ. Southwest Univ. 166
WCICA 2012 Book of Abstracts: Saturday Sessions Duan, Shukai Southwest Univ. Memcapacitor is similar with the memristor, it is the passive electronic component with memory, reserving data even power is off, so it has wide promising applications in different areas. This paper addresses a memcapacitor model, discusses its properties with data reading, data storing, charging and discharging, designs the circuits about data reading and storing, a series of simulation results verify the effectiveness of this circuits, apply in the memcapacitor to the single-phase bridge rectifier circuit, The output wave of memcapacitor-based single-phase bridge rectifier circuit is better than the ecumenical capacitor. Chair: Zhao, Qianchuan Poster Session PSaA July 7, 13:30-14:50 Tsinghua Univ. ◁ PSaA-01 Research of Dynamic Texture Mapping Technology realized by Multisoftware collaboratively, pp.3191–3194 Wang, Dong Zhang, Tuo Cao, Yuchao Li, Dalei zhengzhou Univ. Zhengzhou Univ. Zhengzhou Univ. zhengzhou Univ. At present, the virtual prototype technology has been widely used in the world. VRML and Open Inventor are especially outstanding in the field of virtual reality technology and 3-D graphics development technology, but between them there are still some incompatibility problems in front of dynamic texture mapping. This paper introduces a kind of method about solving the incompatibility problems to realize work process simulation, using many kinds of software, based on the virtual prototype technology. ◁ PSaA-02 Prediction of Flooding Velocity in Packed Tower Using Least Squares Support Vector Machine, pp.3226–3231 Li, Changli Liu, Yi Yang, Jie Gao, Zengliang Zhejiang Univ. of Tech. Zhejiang Univ. of Tech. Zhejiang Univ. of Technolog Zhejiang Univ. of Tech. The flooding velocity is an important but difficult to accurately predict parameter for the packed column design. With the appearance of new packing shapes, traditional empirical models are insufficient to satisfy the requirement of engineering applications. In this paper, a novel approach using least squares-support vector machine (LS-SVM) is proposed to predict the flooding velocity in the randomly dumped packed towers. To evaluate the performance of the LS-SVM model applied to predict the flooding velocity, it is compared with the traditional empirical models and the neural network models. It is found that the LS-SVM model can provide the best performance of all, with an average absolute relative error less than 8 %. The results demonstrate that LS-SVM offers an alternative approach to model and predict the flooding velocity in the randomly dumped packed towers. ◁ PSaA-03 Development and Research on Multi-National Banknote Sorting System, pp.3331–3335 Zhang, Ying Univ. of Anshan Banknote sorter is a kind of machine for paper currency, which is applied to sorting, separating, discriminating, recording, statisticsing, seeking out deformity and choosing cash for ATM. It is a high-tech financial processing device integrated with optics, mechanics, electronics and software. This paper introduces the structures, features and functions of multination banknote sorting system and emphasizes on the design methods on image scanning, image processing and image recognizing. The design processes include the introduction of mechanical structure, the design of system hardware, the sampling method of multispectral image, the arithmetics of image processing and recognizing, and the construction of banknote tracing system. ◁ PSaA-04 Application of PLC and Touch-screen in The Power Window Control System, pp.3355–3358 Li, Binglin Tao, Quan Changchun Univ. of Tech. Changchun Univ. of Tech. In order to meet the requirements of intelligent window in intelligent building, based on PLC high reliability, advanced control technology and touch screen’s friendly interface and easy and flexible configuration programming, design of the power window control system of intelligent machines combined with the PLC and touch screen. Satisfactory results have been obtained through simulation experiments and commissioning. The working principle, hardware construction, software program and function characteristics of the designed intelligent window control system were expounded in detail. The design of fire associated control functions, the force power ban when program run overtime, skylight communication abnormalities alarm were discussed. The design of the intelligent windows control system has run smoothly, safety and high reliability and content request to a modern intelligent building. ◁ PSaA-05 Optimization of Power Plant DCS Control Based on Data Communication, pp.3434–3437 Fu, Junjie Zhao, Zhigang Long, Junfeng Cai, Jun Li, Pingkang DATANG INTERNATIONAL TUOKETUO POWER DATANG INTERNATIONAL TUOKETUO POWER DATANG INTERNATIONAL TUOKETUO POWER Beijing Jiao Tong Univ. Beijing Jiaotong Univ. A DCS (distributed control system) optimization approach introducing advanced algorithm realized in MATLAB into the control configuration was proposed. UDP and Modbus/TCP protocol communication program was written to establish two way data communication between the EDPF-NT plus DCS and MATLAB. Two timer objects in MATLAB were used to ensure real-time transmission of the data. Independence and reliability was guaranteed by using communication interface offered by DCS. An applying example of drum level fuzzy-PID control was given to prove the feasibility of this approach. ◁ PSaA-06 QP-based SMP Scheme for Robots with Pseudoinverse Method Compared and Singularities Discussed, pp.3583–3588 Zhang, Yunong Xiao, Lin Sun Yat-sen Univ. Sun Yat-sen Univ. To achieve the self-motion planning (SMP) of redundant robot manipulators, this paper investigates an SMP scheme by considering joint physical limits. The scheme is then reformulated and unified as a quadratic program (QP) subject to equality and bound constraints. For comparison purposes, the classical pseudoinverse-type method is p- resented. Simulation results based on a three-link planar manipulator, PUMA560 and PA10 manipulators further substantiate the efficacy and superiority of the SMP scheme. Besides, the effect of design parameters λ and γ is investigated, and the singularities of the self-motion for redundant manipulators are discussed. ◁ PSaA-07 Research of the Robot for the Elderly Based on Star Positioning, pp.3639–3641 Tian, Liguo Li, Meng Chen, Zhiliang Duan, Haillong Tianjin Univ. of Tech. & Education Tianjin Univ. of Tech. & Education Tianjin Univ. of Tech. & Education Tianjin Univ. of Tech. & Education With acceleration of the population aging process, the people pay more and more attention on the development of the robot for the elderly. On the basis of technical research and development of service robot positioning technology in recent years, the paper designed the system of the robot for the elderly based on star positioning. The system used ARM9 processor S3C2440 as the core, equipped with IPC and star positioning module and various sensor modules, could complete some assistant works for the old people’s living, such as stable walking, environmental monitoring, grasping objects and so on. After tested, the system works well and achieved the design requirements. 167
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WCICA 2012 The 10 th World Congress
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