Conference Program of WCICA 2012

Conference Program WCICA 2012
scale-free networks.
◁ PSaA-85
The Site Selection of Distribution Center Based on Linear Programming
Transportation Method, pp.3538–3542
Liu, Xiaohui
Beihua Univ.
The distribution center has a tight with the supply point and demand
point which are significant in logistics system. A better site selection of
distribution center has an important impact on the improvement of logistics
economy benefit. This paper analyzes the common site selection
methods of distribution center, such as Kuehn-Hamburger Model, Cluster
Algorithm, Analytic Hierarchy Process, and Genetic Algorithm. It uses
linear programming transportation method to select site through the
research and comparison of site selection method of distribution center.
The paper introduces the site selection steps of linear programming
transportation method. Based on the construction of logistics network
schema of linear programming transportation method, it takes into account
the factors such as relation between supply and demand, freight
rates, transportation distance and the expense of the distribution center.
It analyzes and solves by using linear programming transportation
method and ultimately assume the proposal of site selection of distribution
center. This proposal has a widespread value of popularization
and practice.
◁ PSaA-86
Soft Tissue Deformation ANSYS Simulation of Robot-Assisted Percutaneous
Surgery, pp.3561–3566
Zhao, Chengtao
Zeng, Qingjun
Liu, Haixia
Jiangsu Univ. of Sci. & Tech.
Jiangsu Univ. of Sci. & Tech.
Jiangsu Univ. of Sci. & Tech.
In order to reduce deflection of the stabbing needle and increase the
accuracy of the robot-assisted needle insertion into soft tissue, A physical
model of stabbing needle is built with elastic beam. We put forward
a algorithm to analyze force added on stabbing needle and got
the deflection and angle of element node. The theoretical calculation
and experimental simulation shows the validation and consistency of
the algorithm. The dynamic process of the soft tissue deformation during
needle insertion is decomposed into a set of discrete quasi-static
stages. We got every note’s displacement and force distribution of
the soft tissue by simulating needle insertion into two and three dimensional
tissue, which provide significant reference with predicting soft
tissue deformation and planning before surgery.
◁ PSaA-87
Adaptive Neural Network Control of an Aerial Work Platform’s arm,
pp.3567–3570
Jia, Pengxiao
Beijing Forestry Univ.
An aerial work platform (AWP) is a type of off highway vehicle with a
long beam to provide temporary access to inaccessible areas.The motivation
of the research is to increase its productivity, safety and reduce
the manipulation complexity during the operation process. In this paper,
a simplified two-link model of AWP’s arm is given. The control
scheme based on neural network modeling technology is employed to
steer the AWP’s arm to track the desired trajectories asymptotically,
which requires neither the evaluation of inverse dynamical model nor
the time-consuming training process. The simulation results validate
the effectiveness of the proposed approach.
◁ PSaA-88
PSO-based Parameters Opatimization of Multi-Robots Formation Control
in Unknown Enviroment , pp.3571–3576
Liu, Qiang
Ma, Jiachen
Harbin Inst. of Tech.
Harbin Inst. of Tech.
This paper proposed a PSO-based algorithm for parameters optimization
of multi-robot formation navigation in unknown environment.
In order to achieve formation navigation in unknown environment,
each robot in formation adopts motor schema-based reactive control
architecture which has four primitive behaviors called move to goal,
keep formation, avoid static obstacle and avoid robot behaviors.The
behavior output to direct the movement of robot is made by the combination
of four primitive behaviors. Particle Swarm Optimization algorithm
as an unsupervised learning method for a reactive control architecture
greatly reduces the effort required to configure reactive control
parameters of multi-robot formation system. The validity of this method
is verified through computer simulations in different types of in environments
by robot simulation software MissionLab.
◁ PSaA-89
A Novel Inverse Dynamics Control Strategy with Different Phases for
the Quadruped Robot, pp.3601–3606
Li, Bin
Shao, Xuesong
Wang, Wei
Guo, Yajuan
Yi, Jian-qiang
Jiangsu Electric Power Company
Chinese Acad. of Sci.
Chinese Acad. of Sci.
Jiangsu Electric Power Company
Inst. of automation, chinese Acad. of Sci.
Aiming to reduce the computation and implement compliant control,
this paper proposes a novel inverse dynamics control strategy based
on the floating-base rigid body system. The control strategy assumes
that each leg of the quadruped robot organizes itself into an independent
autonomous system, a serial robot. Based on this assumption,
the kinematics and the dynamics models of the quadruped robot have
been created. The dynamical model supposes two different models according
to the leg’s state. In the stance phase the serial robot affixes
its base frame to the shank and iterates the rigid body dynamics algorithms
from the knee joint to the body. When the serial robot is in the
swing phase, the dynamics algorithm is propagated from the hip joint to
the shank, whose computing direction is just the reverse against the direction
of which the serial robot is in the stance phase. The quadruped
system doesn’t need the fixed base to the system and avoids calculating
the virtual joints of 6-DOF. Therefore, the algorithm proposed in this
paper makes real-time computation of the quadruped robot dynamics
possible. In order to evaluate the efficiency of the inverse dynamical
control strategy, experiments are accomplished based on a practical
quadruped robot. The experiments, which were done on a rubber mat
and on asphalt, demonstrated that the quadruped robot is able to walk
adaptively.
◁ PSaA-90
Formation Control for Multiple Robots in Uncertain Environments,
pp.3607–3610
Li, Li
Yang, Li
Li, Bing
Tianjin Univ. of Tech. & Education
Tianjin Univ. of Tech. & Education
Tianjin Univ. of Tech. & Education
A formation control approach for multiple robots in uncertain environments
is proposed, which adopts the formation parameter matrix to establish
the relative relationship among robots, decomposes the globallevel
formation control problem into the-off-axis point of the follower
tracking the-off-axis point on the virtual robot which has the same orientation
with the lead robot and maintains a desired relative distance and
desired observation angle with respect to its lead robot, and designs
the tracking control law. Simulation results are given to demonstrate
the feasibility and effectiveness of the approach.
◁ PSaA-91
Research On Teleoperation for DFFSR Without Time Delay Based on
Virtual Reality, pp.3611–3616
Li, Huazhong
Shenzhen Inst. of Information Tech.
Virtual modeling and simulation technology about teleoperation without
time delay for Dual-arm Free Flying Space Robots (DFFSR) have been
mainly researched. First, present research situation on teleoperation
time delay problem has been described. Then, solution to time delay
based on Virtual Reality (VR) Preview technology has been presented.
Finally, teleoperation system for DFFSR without time delay based on
VR has been developed and simulation experiment has been carried
on. The simulation results show that VR technology has taken very
much important play in effectively overcoming problem of teleoperation
time delay for DFFSR.
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