Conference Program of WCICA 2012

Conference Program WCICA 2012
◁ PSaA-08
Lateral Stabilization of a Single Wheel Robot Applying Electromagnetic
Force, pp.3675–3680
Ruan, Xiaogang
Zhu, Xiaoqing
Li, Yalei
Wei, Ruoyan
Beijing Univ. of Tech.
Beijing Univ. of Tech.
Beijing Univ. of Tech.
Beijing Univ. of Tech.
The lateral stabilization of single wheel robot is a challenge for researchers.
We proposed a new mechanism to solve the problem by
applying electromagnetic force. The mechanism was described briefly,
and after dynamic analyses of the robot, its state space equation was
obtained. The prototype was built in ADAMS, and integrated with MAT-
LAB a PID controller and a LQR controller were performed respectively.
A simple physical experiment was carried out on inverted pendulum applying
Lorentz force. Simulation and physical experiment results show
that the proposed mechanism is feasible and more energy efficient.
◁ PSaA-09
Modeling and Control for UW-Car in Rough Terrain, pp.3747–3752
Mao, Lifei
Huang, Jian
Ding, Feng
Fukuda, Toshio
Matsuno, Takayuki
Huazhong Univ. of Sci. & Tech.
Huazhong Univ. of Sci. & Tech.
huazhong Univ. of Sci. & Tech.
Nagoya Univ.
Toyama Prefectural Univ.
There has been an increasing interest in a kind of underactuated mechanical
systems, mobile wheeled inverted pendulum (MWIP) models,
which are widely used in the field of autonomous robotics and intelligent
vehicles. A novel transportation system, UW-Car, which is composed of
an MWIP system and a movable seat is proposed. The reduced-order
dynamic model of a UW-Car system running in a rough terrain is obtained
by applying Lagrangian motion equations. A sliding mode control
approach is proposed based on the dynamic model. Comparing with
the linear quadratic regulator (LQR) approach, the new method guarantees
that a UW-Car system can run in a rough terrain while keeping
the body upright and the seat on some fixed position. The theoretical
results are finally demonstrated through numerical simulations.
◁ PSaA-10
A Novel Pursuit Strategy for Fast Evader in Indoor Pursuit-Evasion
Games, pp.3834–3839
Fan, Xinyi
Zhu, Shanying
Du, Rong
Chen, Cailian
Guan, Xinping
Shanghai Jiao Tong Univ.
Shanghai Jiao Tong Univ.
Shanghai JiaoTong Univ.
Shanghai Jiao Tong Univ.
Shanghai Jiao Tong Univ.
This paper is concerned with the pursuit problem of indoor pursuitevasion
games (PEGs) with multiple pursuers and one fast evader. The
system is implemented in multiple mobile robots with the connection
over wireless communication. A model of the pursuit problem of fast
evader in indoor PEGs is presented to consider the case of unknown
position of evader. To solve this PEG, we introduce the concept of dirty
set to represent all possible locations of the evader. Based on an intuitively
defined cost function, we then propose the ISCD algorithm to
guarantee the shrink of the dirty set until the evader is successfully
captured. Experiment results show that ISCD algorithm has guaranteed
convergence property and the capture occurs even with a small
number of pursuers after a few steps.
◁ PSaA-11
Research and Development of Comprehensive Monitoring and Management
Platform for Substation, pp.3948–3953
Wang, Hua
Yan, Gangfeng
1.Zhejiang Univ. 2.Zhejiang Univ. of Sci. & Tech.
college of electrical engineering
Substation is an important part of power system and its operation s-
tatus exerts great effect on the safety of power system. Comprehensive
monitoring management platform for substation (CMMP) is a digital
monitoring platform which has uniform interfaces; flexible expansibility
and hierarchical network control ability, and it is custom-designed
for safe operation of substation. CMMP consists of direct current realtime
monitoring subsystem, intrusion detection and hierarchical video
monitoring subsystem, temperature and humidity and fire monitoring
subsystem based on WSNs. CMMP adopt composite structure of C/S
and B/S which would be convenient for computer and other mobile end
to query monitoring information. Owing to the perfect private network
of power system, CMMP can monitor both local and cross-domain substations.
In addition, CMMP can classify and manage all kinds of alarm
information from substation and realize distribution monitoring centralized
management.
◁ PSaA-12
Design on Logistics Management Automation System for Waterway Integrated
Port, pp.3954–3957
Ao, Chaohua
Wu, Qian
Yang, Xiaoyi
Chongqing Industry Polytechnic College
Chongqing Univ. of Tech.
Chongqing Normal Univ.
Aimed at the puzzle of being lower in management efficiency of waterway
integrated port resulted from being lack of informatization tool,
the paper designed a logistics management automation system. In the
paper, it made the requirement analysis, constructed the system architecture
by means of hybrid pattern with C/S plus B/S, designed the
related function module and user interface, and through programming it
realized an actual logistics management automation system based on
.Net Framework. The running result of a certain waterway integrated
port in inland river waterway demonstrated that it improved logistics efficiency
outstandingly. The better running effect validates its feasible in
design.
◁ PSaA-13
Study on the Continuous Direction Control for the Snake-like Robot,
pp.1276–1281
Zhang, Danfeng
Wu, Chengdong
Li, Bin
Shenyang Inst. of Automation & Graduate Univ.
of Chinese Acad. of Sci.
northeastern Univ.
Shenyang Inst. of Automation, Chinese Acad. of
Sci.
Direction control is an important part of the study on the snakelike
robot. A direction control algorithm which is based on the passive
creeping, named continuous direction control, is proposed. This
method controls the movement direction of the robot’s head by the
exponential function of the reference angle amplitude, and makes the
body follow the head by adjusting the torque amplitude of the body. The
fixed point movements and the fixed direction movements of the snakelike
robot are simulated. In simulations, the angles, energy states are
revealed, and the errors are analyzed by comparing the moving direction
with the expected direction. The simulations demonstrate the validity
and veracity of the continuous direction control method.
◁ PSaA-14
A Game Theoretical Bandwidth Allocation Mechanism for Cloud
Robotics, pp.3828–3833
Wang, Lujia
Meng, Max, Q.-H.
The Chinese Univ. of Hong Kong
The Chinese Univ. of Hong Kong
Cloud robotics is driving interest in both academia and industry, since
it would allow robots to off-load compute intensive tasks, combine with
multiple robots and even download new skills. For resource sharing a-
mong users in cloud robotics, bandwidth allocation is the fundamental
and dominant task in these networks. However, poses many technical
challenges that are still outstanding, since incast congestion happens in
high-bandwidth and low-latency networks, when multiple synchronized
users send data to a same receiver in parallel [1]. In this paper, we introduce
a resource allocation framework for cloud robotics, and propose a
game-theoretic problem formulation and linear pricing scheme of bandwidth
allocation, we also implement a congestion control algorithm by
using optimal parameters derived from the game-theoretic algorithm.
Simulation results demonstrate that the proposed mechanism achieves
better performance of bandwidth allocation in cloud robotics scenarios.
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