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Systems, Man and Cybernetics, 2006. SMC '06. IEEE International Conference on

Date 8-11 Oct. 2006

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  • [Front cover]

    Page(s): C1
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  • 2006 IEEE International Conference on Systems, Man, and Cybernetics

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  • [Breaker page]

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  • Welcome Message From General Chair and Co-Chair

    Page(s): i - ii
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  • Conference organization

    Page(s): iii
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  • Technical Program Committee

    Page(s): iv - x
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  • Table of contents

    Page(s): Contents-1 - Contents-77
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  • Inverse pseudo-random binary sequence design and its application in identifying of the SCARA-type manipulator

    Page(s): 4459 - 4464
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1710 KB) |  | HTML iconHTML  

    The design of inverse pseudo-random binary sequence (IPRBS) for the plant identification is presented. There exist two problems, the burden of identification experimental working amount based on the frequency response method and the identification precision sensitivity to the input-excitation signal based on recursive least square with forgetting factor (RFF). We solve the problems using a novel identification method, which combines RFF algorithm through frequency response analysis. The nominal model parameters are identified on the basis of frequency response analysis, in which the frequency bandwidth of harmonic input is limited, and frequency resolution is coarse. Based on this, the shift-impulse cycle of IPRBS as identification input can be calculated with the iteration-optimum method, and the model parameters can also be identified optimally in the procedure. The method is applied to the design of motion control system based on disturbance observer (DOB) of SCARA-type manipulator using Windows NT and VenturCom's real-time extension module (RTX) environment. View full abstract»

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  • Multi-Robot Movement Design Using the Number of Communication Links

    Page(s): 4465 - 4470
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (2497 KB) |  | HTML iconHTML  

    This paper presents the design of dispersion movement and concentration movement for a multi-robot team to search for targets in an unknown environment. The goal of the dispersion movement is for the multi-robot team to spread out as widely as possible and explore any unknown targets without breaking the communication links among these robots. The movement direction is made based on only minimal available communication data. After one of the team members finding a target, other robots are commanded by the concentration algorithm to move to the same target location to, for example, retrieve the explored target or transport the target cooperatively. The only information used for designing the movement algorithms is the number of robots within the communication range of the robot. The proposed algorithms have been extensively tested by the simulation study. The simulation results demonstrate the feasibility and fast convergence of the proposed algorithms in several typical scenarios presented in this paper. Potential applications of the proposed algorithms include rescue in a damaged area, planetary exploration, military reconnaissance, and geophysical mapping. View full abstract»

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  • Designing a Quadrupedal Robot Mimicking Cat Locomotion

    Page(s): 4471 - 4474
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (2747 KB) |  | HTML iconHTML  

    This paper explored a way to design mechanical structure and motion pattern of a quadrupedal robot to realize pitching motion by mimicking a cat. Four joints configuration styles were obtained by simplifying quadrupedal mammal's body. Referring to the leg motion of a cat, joint motion trajectories were designed and a motion mapping relationship between knee and hip was formulated for the quadrupedal robot. Proved by the experiments with a physical robot, these designs are effective and the quadrupedal robot can walk quickly and smoothly just as a cat does. Otherwise, we find robotic mechanical structure in terms of joint-configuration style, layout of COG, etc. has influences on the performance of the robot. That results in slippage or not-clearance-from-the-ground of feet in motion. View full abstract»

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  • A Visual Servo Controller for Lateral Navigation of Mobile Vehicles in Path Tracking Applications

    Page(s): 4475 - 4480
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (3742 KB) |  | HTML iconHTML  

    In this paper we present the development of a visual servo controller to laterally navigate a mobile vehicle tracking the lane marker on a ground path automatically. Based on linear approximation of the lane marker and kinematics of the vehicle, we first derive the equations of motion for the system of lateral navigation. Then, utilizing the feedback linearization technique, we design the visual servo controller and, through a stability analysis, we can guarantee the tracking errors converge to zero exponentially. In the implementation, we adopt an efficient lane-marker detection system to measure the position and orientation of the lane marker relative to a look-ahead position of the vehicle. Finally, several experimental results are provided to validate the control performance. View full abstract»

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  • Task-Compatibility-Based Motion Planning for Bimanual Assembly

    Page(s): 4481 - 4486
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (878 KB) |  | HTML iconHTML  

    Bimanual robotic assembly is modeled at the task-level using contact states of workpieces and their transitions. Task-compatibility-based motion planning is developed to derive the lower-level velocity commands from the task-level symbolic transitions of the bimanual assembly model. The cost-function based on the manipulability and compatibility is designed to determine the assembly motions of the two manipulators. The assembly motions are executed along the direction of maximizing the sum of the performance indices to improve the control performance of the two manipulators. The problem is formulated as a constrained optimization considering the assembly constraints, position of the workpieces, and the kinematics and redundancy of the bimanual robot. The proposed approach is evaluated with 2D simulation of a peg-in-hole assembly with an L-shaped peg and two 3-dof manipulators. View full abstract»

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  • Learning to grasp in unknown environment by reinforcement learning and shaping

    Page(s): 4487 - 4492
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (3745 KB) |  | HTML iconHTML  

    The purpose of this study is to propose a new tool to define the posture of a complete anthropomorphic arm model during grasping taking into account task and environment constraints. The developed model is based on a neural network architecture mixing both supervised and reinforcement learning. The task constraints are materialized by target points to be reached by the fingertips on the surface of the object to be grasped while environment constraints are represented by obstacles. With no prior information on the shape, position and number of obstacles, the model is able to find a suitable solution according to specified criteria. Simulation results are proposed and commented. View full abstract»

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  • Design and Implementation of A Vision-Based Shopping Assistant Robot

    Page(s): 4493 - 4498
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (3772 KB) |  | HTML iconHTML  

    The paper proposes design concepts of a vision-based shopping assistant robot which can serve people in a mall. By using such robots, a mall could not only save human resources effectively but also improve the quality of information service. In general, a mall always provides three kinds of customer services as guiding, communication and accompanying. In this paper, a fuzzy collision-free guiding controller and a fuzzy following controller are proposed for guiding and accompanying services respectively. For collision-free controls, a named "warning area" will be preplanned in the image plane to check whether there are objectives and/or obstacles in front of the robot. Besides, the eigenblock of objectives could be determined by using color image processing methods. The color recognition and size filter are used to search for proper objective image blocks and their relative locations. Based on a fuzzy following controller, the robot will accomplish the mobility of following the specified customer. Several experiments demonstrate the feasibility of the proposed robotic system. View full abstract»

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  • Stabilization of Nonholonomic System Using Evolutionary Strategies

    Page(s): 4499 - 4502
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1698 KB) |  | HTML iconHTML  

    The minimization of the quadratic integral approach, in the optimal control, is a measure that determines that so quick an initial state is taken to the state zero, considering that its parameters are: the coordinates of the dynamic system, the information of the control and positive defined matrices. These positive defined matrices are obtained in particular based on the engineer's experience on a dynamic system. It is clear that, the good election of the matrices, in an enclosed group, they should improve the objective of the approach. It is for it that, we propose an algorithm, based on evolutionary strategies, to choose the positive defined matrices, in an enclosed space. The important result is given in the operations of crossover and mutation of the evolutionary algorithm: they preserve the positive defined properties of the matrices, improving the computational complexity of this algorithm. View full abstract»

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  • Observer-based Switched Control Design for Continuous-time Switched Systems

    Page(s): 4503 - 4507
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (643 KB) |  | HTML iconHTML  

    In this paper, we propose a method to design an observer-based switched control which guarantees that the switched system is quadratic-ally stable. The main result consists in proving a separate principle for continuous-time switched system. Hence, the design of the switched state feedback control and the switched observer can be carried out independently. View full abstract»

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  • A Metamodel Approach to Software Process Modeling Based on UML Extension

    Page(s): 4508 - 4512
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1512 KB) |  | HTML iconHTML  

    This paper presents UPME, a metamodel approach to software process modeling based on UML extension. In this approach, software process modeling will take three steps: firstly, a metamodel modeling step to build metamodels for software process domain; secondly, a model instantiation step to build the model for a concrete project based on domain metamodels; and thirdly, a model compilation step to translate the model into object-oriented code skeleton for process enactment. In these steps, UML and its extension mechanisms are used, and an instantiation description language is designed to write process instantiation scripts. We built the ISPW-6 process as example, and the result demonstrated that the UML based metamodel approach makes process modeling more reusable and easier. And the popularity of UML also makes this approach more acceptable in industry than other specialized process modeling languages (PMLs). View full abstract»

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  • Design of Explicit Model-Following Control for the Spindle Motor in CD-ROM Drives

    Page(s): 4513 - 4518
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (829 KB) |  | HTML iconHTML  

    The design method of explicit model-following control theory is presented in this paper, which is applied to the speed control and responses improvement of a spindle motor of CD-ROM drives. The technique of command generator tracker is applied to convert the model-following control into a regulator problem. The model mismatch error is minimized by means of linear quadratic optimal control. Computer simulation demonstrates that the speed controller possesses robustness against model uncertainty and external disturbances. View full abstract»

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  • Modeling and Control of MCFC System Based on Artificial Neural Networks

    Page(s): 4519 - 4523
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1605 KB) |  | HTML iconHTML  

    The molten carbonate fuel cell (MCFC) is a complex system, and MCFC modeling and control are very difficult in the present MCFC research and development because MCFC has the complicated characteristics such as nonlinearness, uncertainty and time-change. To aim at the problem, the MCFC mechanism is analyzed, and then MCFC modeling based on artificial neural networks is advanced. At last, as a result of applying the model, a MCFC artificial neural network control strategy is presented in detail so that it gets rid of the limits of the controlled object, which has the imprecision, uncertainty and time-change, to achieve its tractability and robustness. The computer simulation and the experiment indicate that it is reasonable and effective. View full abstract»

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  • Optimal Sliding Mode Control for Linear Systems with Time-delay

    Page(s): 4524 - 4528
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (784 KB) |  | HTML iconHTML  

    The sliding-mode control for linear systems with time-delay Is concerned. By treating some state variables as virtual control, a quadratic performance index is given. According to the necessary conditions for the optimality, the two-point boundary value (TPBV) problems with both time-delay and time-advance terms are obtained. By developing the successive approximation approach (SAA) of differential equation into infinite horizon, the original TPBV problem which is derived from the optimal switching manifold design is transformed into a sequence of linear TPBV problems without delay and advance terms. The solution sequence of the linear TPBV problems uniformly converges to the solution of the original problem.. By using a finite term of the adjoint vector sequence, a suboptimal switching manifold is obtained. The switching manifold designed assures that the state trajectories of the closed-loop system converge to zero as fast as possible on ideal sliding surface. The convergence velocity of every state trajectory on the ideal sliding surface can be adjusted through choosing quadratic performance index. Numerical simulation is given to show the effectiveness of the proposed design approach. View full abstract»

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  • A Merged Fuzzy-Neural Network and Its Application in Fuzzy-Neural Control

    Page(s): 4529 - 4534
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (868 KB) |  | HTML iconHTML  

    This paper proposes an observer-based adaptive fuzzy-neural controller, structured by a merged fuzzy-neural network (merged-FNN) to reduce the number of adjustable parameters. In this paper, the merged-FNN is proved to take the place of the traditional fuzzy-neural networks under some assumptions. Moreover, the overall adaptive schemes using the proposed merged-FNN guarantees that all signals involved are bounded and the output of the closed-loop system asymptotically tracks the desired output trajectory. From experimental examples, the proposed merged-FNN has far fewer parameters than the traditional FNN, and the computation time is significantly reduced. To demonstrate the effectiveness of the proposed methods, simulation results are illustrated in this paper. View full abstract»

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  • Stabilization Analysis for a Class of Switched Discrete-time Systems

    Page(s): 4535 - 4540
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (922 KB) |  | HTML iconHTML  

    In this paper, two methods based on Lyapunov stability theorem to study the stabilization and switching law design for the switched discrete-time systems with state-driven switching are presented. Furthermore, these methods can be applied to cases when all individual subsystems are unstable. Finally, an example is exploited to illustrate the proposed schemes with two individual methods. View full abstract»

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  • Adaptive Information Change Management and Relative Pre-Warning Mechanism

    Page(s): 4541 - 4545
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (2318 KB) |  | HTML iconHTML  

    To tackle problems such as information change management in tourism, an adaptive information change management based on workflow system is described. In overall structure, business logic, application logic and function logic are separated each other as the basic principles for system to finish the task of self-adaptability. In order to process agilely information changes, it should be provided with characteristics of dynamic re-engineering, to achieve adaptive adjustment or dynamic adjustment of process, and this cannot be satisfied in traditional workflow system. Workflow can fulfill adaptability by adding some other characteristics in domain, process model and system infrastructure. Here we develop adaptive workflow system change management system. It is set up on the basis of traditional workflow system, that is to say, it is in accord with the reference model of workflow management system mentioned above in framework. The difference is adaptive workflow management system lay emphasis on ability of flexible reengineering, response and adaptability to change information. Therefore, it should be added new characteristics to meet the adaptability demand on the basis of original workflow reference basic model. View full abstract»

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  • Mixed Backlogging and Outsourcing Models with Inventory Capacity

    Page(s): 4546 - 4551
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (911 KB) |  | HTML iconHTML  

    In this paper we consider a dynamic lot sizing model with mixed backlogging and outsourcing and bounded inventory, in which outsourcing may occur in a period even if the inventory level at that period is positive. The production cost may include setup cost and the production level is unlimited. The holding, backlogging and outsourcing cost functions are linear. Furthermore, backlogging level at each period is limited, and outsourcing level at each period cannot exceed the demand of that period. The goal is to minimize the total cost of production, inventory holding/backlogging and outsourcing. We show that this problem can be solved in O(T4 log T) time where T is the length of the planning horizon. Finally, the proposed algorithm is implemented in C++ and evaluated on a large variety of instances generated randomly. View full abstract»

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  • Robust Control of Dual-Arm Space Robot Systems with Two Objects in Inertial Space

    Page(s): 4552 - 4556
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (717 KB) |  | HTML iconHTML  

    In this paper, the kinematics and dynamics of free-floating dual-arm space robot systems are analyzed, and it is shown that the dynamic equations of the system are nonlinearly dependent on inertial parameters. In order to overcome the problem proposed above, the system is modeled as under-actuated robot system, and the idea of augmentation approach is adopted. It is demonstrated that the dynamic equations of the system can be linearly dependent on a group of inertial parameters with augmented inputs and outputs. Based on the results, the robust control scheme for free-floating dual-arm space robot system with uncertain inertial parameters to implement the point-to-point motion in inertial space is developed, and a planar dual-arm space robot system with two objects is simulated to verify the proposed control scheme. The proposed control scheme is computationally simple, because we guarantee the controller robust to the uncertain inertial parameters rather than explicitly estimating them online. In particular, it need not require controlling the position and attitude of the floating base. View full abstract»

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