Conference Program of WCICA 2012

WCICA 2012
Book of Abstracts: Sunday Sessions
for a small-scale Unmanned Aerial Vehicle (UAV) helicopter. Complex
and highly coupled dynamics of the helicopter naturally complicates the
modeling process and the controller design. In this work, the comprehensive
nonlinear model of the helicopter system is derived from the
first-principles modeling and its parameters are verified with system i-
dentification approaches. The derived nonlinear model is with modest
level of complexity and the high-fidelity linearized model is adequate for
flight control system design. Helicopter is a high-dimensional and inherently
unstable system. It demands accurate and efficient control algorithms
to stabilize the attitude of the helicopter. Fullstate feedback control
is utilized in the controller design. However, onboard sensors can
provide only partial states information for feedback. The unmeasured
states are estimated by means of a reduced-order observer. Linear
Quadratic Regulator (LQR) methodology and integral state augmentation
are adopted in order to achieve the desired performance of the
control system. The simulation results indicate the developed control
system is competent and efficient enough to control the UAV helicopter.
◮ SuB06-2 16:30–16:50
A New Algorithm for Estimating 3D Structure and Robot Motion Using
Visual Tracking and IMU/Compass, pp.4942–4947
WANG, Kai
Liu, Yun-Hui
The Chinese Univ. of Hong Kong
The Chinese Univ. of Hong Kong
Monocular SLAM (Simultaneous Localization and Mapping) is popular
in SLAM researches of the past few years. Filtering approaches and
bundle adjustment style optimization are main popular strategies, with
a lot of applications. This paper proposes a novel adaptive estimation
based SLAM algorithm with application to a lake surface robot. Orientation
and linear velocities of the robot, and accurate SURF feature
tracking work as prerequisites of the algorithm. The algorithm is theoretically
proved and experimentally validated in the paper. Key frames
are selected in the SLAM process and stored with metric information
of features points, to generate the environment map. Robot localization
and sparse point based map could be estimated online at 50Hz with assistance
of GPU. Moreover, dense point based map could be recovered
offline for visualization. Finally, the corresponding simulations and experiments
are carried out to validate performance of the new monocular
visual SLAM algorithm.
◮ SuB06-3 16:50–17:10
Real-Time Bird Detection Based on Background Subtraction, pp.4507–
4510
Shakeri, Moein
Zhang, Hong
Univ. of Alberta
Univ. of Alberta
Detection of birds in air is an important problem across multiple applications
including aviation safety, avian protection, and ecological science
of migrant bird species. In this paper we describe a real-time detection
system of birds in flight. Using a single fixed camera, our bird detection
system is based on background subtraction and tracking through point
correspondence. We make use of Zivkovic’s background subtraction
approach which includes a non-parametric model and a Gaussian mixture
model that is an extension of the standard method. We append a
correspondence component based on point-tracking to the background
subtraction algorithm to achieve reliable bird detection. Experiments
were conducted to study the detection performance using objects of
different size, color and velocity. The results show efficiency and accuracy
of our system in the detection of fast motion objects such as
birds.
◮ SuB06-4 17:10–17:30
Brain-Driven Micro-Biomanipulation with Sensing Feedback, pp.4517–
4522
Luo, Yudong
Shen, Yantao
Univ. of Nevada, Reno
Univ. of Nevada, Reno
This paper presents our development of an integrated brain-driven
micro-biomanipulation system that can perform mind-controlled biomanipulation
at micro scale. The system incorporates a non-invasive electroencephalogram
(EEG) device with a high-precision automated micromanipulator
through high speed network. The human manipulation
mind measured by the EEG device can effectively drive the micromanipulator
to perform the 2-D manipulation on bio-samples. During
the manipulation, the trace of human manipulation mind is monitored
by a custom-built high-precision position sensing detector (PS-
D) interface unit. Extensive experimental results demonstrate the high
performance of the developed network-enabled and brain-driven microbiomanipulation
system. The research work can be further used to
investigate manipulation behavior and neurobiofeedback mechanism
of human brain for facilitating development of high-efficiency microbiomanipulation
strategy of engineering approaches in micro/nano level.
SuB07 16:10–17:50 Room 303
Invited Session: Disturbance Rejection: Formulation, Methodology, and
Applications
Chair: Gao, Zhiqiang
Cleveland State Univ.
◮ SuB07-1 16:10–16:30
An Energy Saving, Factory-Validated Disturbance Decoupling Control
Design for Extrusion Processes, pp.2891–2896
Zheng, Qing
Gao, Zhiqiang
Gannon Univ.
Cleveland State Univ.
This paper is focused on the design and factory testing of a disturbance
decoupling control (DDC) approach for hose extrusion processes.
A unique dynamic DDC strategy, based on the active disturbance
rejection control (ADRC) framework, is designed and implemented in
programmable logic control (PLC) code for temperature regulation in
the volumetric flow of a polymer single-screw extruder. With the DDC
method, it is shown that a largely unknown square multivariable system
is readily decoupled by actively estimating and rejecting the effects of
both the internal plant dynamics and external disturbances. The proposed
DDC approach requires very little information on plant model
and has the inherent disturbance rejection ability, and it proves to be a
great fit for the highly nonlinear and multivariable extrusion processes.
Recently, the DDC design strategy has been put under rigorous test
at Parker Hannifin Parflex hose extrusion plant. Across multiple production
lines for over eight months, the product performance capability
index (Cpk) was improved by 30 percent and energy consumption is
reduced over 50 percent. The production line data demonstrates that
ADRC is a transformative control technology with great potentials in
streamline factory operations, saving energy and improving quality, all
at the same time.
◮ SuB07-2 16:30–16:50
On Model-free Accommodation of Actuator Nonlinearities, pp.2897–
2902
Zhao, Shen
Zheng, Qinling
Gao, Zhiqiang
Cleveland State Univ.
Cleveland State Univ.
Cleveland State Univ.
A unique method of dealing with various nonlinearities, particularly
those associated with actuators, is proposed, implemented and tested
in simulation and hardware. It is shown that the nonlinearities, even
without mathematical models, can be effectively dealt with based on
the concept of active disturbance rejection, by which the effect of the
nonlinearities is estimated and cancelled in real time. Simulation and
hardware tests give promising results.
◮ SuB07-3 16:50–17:10
Disturbance-Observer-Based Dynamic Inversion Tracking Control for a
Hypersonic Vehicle, pp.2346–2351
WANG, NA
YANG, JIAN
Guo, Lei
Beihang Univ.
Beihang Univ.
Beihang Univ.
Abstract―a dynamic inversion controller (DIC) is designed firstly to
track control commands of 100-ft/s step velocity and 2000-ft step altitude
for an air-breathing hypersonic vehicle in this paper. On the basis
of first step, the influence of different disturbances and parametric
uncertainties is analyzed on velocity response and altitude response,
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