CONFERENCE PROGRAM The 15th International...

ICIUS 2019

CONFERENCE PROGRAM

The 15th International Conference on

Intelligent Unmanned Systems

Beijing, China

August 27-30, 2019

15th International Conference on Intelligent

Unmanned Systems

Organizer

University of Science and Technology Beijing

Sponsors

International Society of Intelligent Unmanned Systems

International Society of Mechatronic Engineering

Office of Naval Research Global

IEEE SMC Beijing Capital Region Chapter

IEEE SMC TC on Autonomous Bionic Robotic Aircraft

School of Automation and Electrical Engineering, University of

Science and Technology Beijing

Institute of Artificial Intelligence, University of Science and

Technology Beijing

Content_Toc16178570

Message from President of ISIUS ........................................................... 1

Welcome Message ..................................................................................... 2

Organizing Committee ............................................................................. 3

Conference Information ........................................................................... 5

Program Schedule ..................................................................................... 6

Technical Program ................................................................................... 7

Plenary Talk ............................................................................................ 17

Keynote Talk ........................................................................................... 23

Hotel & Transportation .......................................................................... 31

Information: Post-conference Tour ...................................................... 37

International Society on Intelligent Unmanned Systems .................... 38

University of Science and Technology Beijing ..................................... 39

School of Automation and Electrical Engineering .............................. 40

1

Message from President of ISIUS

Welcome to Beijing, the capital city of China with a rich history of three millennia! I

am very excited to meet all of you again in Beijing to share most recent research

activities. As the conference host promised last year, I expect many delicious food

menus for lunch and dinner.

Here, I would like to share a short history of ICIUS for the first-time contributors.

ICIUS is supported by the International Society of Intelligent Unmanned System. The

conference has been successful for many years in Seoul-Korea (2005, 2006),

Bali-Indonesia (2007, 2010, 2015), Nanjing-China (2008), Jeju-Korea (2009, 2018),

Chiba-Japan (2011), Singapore (2012), Jaipur-India (2013), Montreal-Canada (2014),

Xian-China (2016), Tamsui-Taiwan (2017). Now, I believe that ICIUS is one of most

successful conferences among the newly-born conferences organized by Pacific-Asian

countries. I am lucky enough to stay together with ICIUS watching the growth of the

conference since 2005.

ICIUS covers divers research areas of unmanned systems, recently focusing

air/underwater drones and bioinspired systems. Papers presented in this conference

are mostly related with actual operating systems, not limited to just imaginary ones.

Since the size of the conference is not very large, it provides many chances for

interaction among participants. Even new participants can be friends during the

conference, which is impossible at larger conferences.

I wish that you all enjoy the conference sharing insights among participants and the

post-conference tour making new friends.

Thank you for your attention.

President of ISIUS

Hoon Cheol Park, Professor, Konkuk University

2

Welcome Message

On behalf of the ICIUS 2019 Conference Organizing Committee, we are very

pleased to welcome you to Beijing, China for the 15th International Conference on

Intelligent Unmanned Systems. The ICIUS aims to provide a forum for scientists and

engineers worldwide to report their latest research results, and to exchange ideas and

experiences, for the advancement of unmanned intelligent systems.

ICIUS 2019 received a total of 132 submissions with authors from United States,

Australia, South Korea and other 13 countries. Based on a rigorous peer-review

process, 102 papers were accepted. The acceptance rate is about 69%. The program is

scheduled over 9 oral sessions including 4 invited sessions and 5 regular sessions,

and 1 poster session, covering new developments concerning theory and application

in UAVs, underwater vehicles, bio-inspired robots, and other unmanned intelligent

systems. ICIUS 2019 is highlighted by six distinguished plenary speeches and eight

keynote speeches.

The major themes of ICIUS 2019 will be: design for trusted and assured autonomy,

metrics for autonomy, and design for resilience. National and international

organizations, agencies, industry, military and civilian authorities are working

towards defining unmanned aerial vehicles roadmaps, technical requirements and

standards. The next generation of UAVs is expected to be used for a wide spectrum

of civilian and public domain applications. Challenges to be faced and overcome

include robust and fault-tolerant flight control systems, payloads, communications,

levels of autonomy, unmanned swarms, network-controlled swarms, etc. ICIUS 2019,

hosted in Beijing, China, promises to offer participants a great experience with

excellent technical and social programs.

We wish to express our appreciation and thanks to all the individuals who have

contributed to ICIUS 2019 in a variety of ways. Special thanks are extended to

reviewers and the Program Committee members for their thorough review of all the

submitted papers, which is vital to the success of this conference. We must also

extend our thanks to all the members in the Organizing Committee and our volunteer

students who have dedicated their time and efforts helping the conference. Last but

not least, our special thanks go to distinguished plenary speakers, keynote speakers

and all the authors for contributing their research work, and to the participants in

making the ICIUS 2019 a great event. Thank you and wish you a great conference

experience and enjoyable stay in China.

General Chairs of ICIUS 2019

Wei He, Professor, University of Science and Technology Beijing

Lung-Jieh Yang, Professor, Tamkang University

3

Organizing Committee

Steering Committee:

Muljowidodo, Institute of Technology Bandung, Indonesia

Kenzo Nonami, Chiba University, Japan

Tianyou Chai, Northeastern University, China

Kwang-Joon Yoon, Konkuk University, South Korea

Hoon Cheol Park, Konkuk University, South Korea

International Advisory Committee:

Agus Budiyono, Institute of Technology Bandung, Indonesia

Debopam Das, Indian Institute of Technology Kanpur, India

Mochammad A. Moelyadi, Institute of Technology Bandung, Indonesia

Masafumi Miwa, Tokushima University, Japan

Rini Akmeliawati, University of Adelaide, Australia

Okyay Kaynak, Bogazici University, Turkey

Shuzhi Sam Ge, National University of Singapore, Singapore

I-Ming Chen, Nanyang Technological University, Singapore

Sutthiphong Srigrarom, National University of Singapore, Singapore

Chun Lung Philip Chen, Professor, University of Macau, China

Lei Xu, Emeritus Professor, Chinese University of Hong Kong, China

Quan Pan, Northwestern Polytechnical University, China

David T.W. Lin, National University of Tainan, Taiwan

Taesam Kang, Konkuk University, South Korea

General Chairs:

Wei He, University of Science and Technology Beijing, China

Lung-Jieh Yang, Tamkang University,Taiwan

Program Chairs:

Youmin Zhang, Concordia University, Canada

Bin Jiang, Nanjing University of Aeronautics and Astronautics, China

Changyin Sun, Southeast University, China

Zhijun Li, University of Science and Technology of China, China

Award Chairs:

Haibin Duan, Beihang University, China

4

Mou Chen, Nanjing University of Aeronautics and Astronautics, China

Jun Fu, Northeastern University, China

Xin Xu, National University of Defense Technology, China

Publicity Chairs:

Jian Sun, Beijing Institute of Technology, China

Guang Li, Queen Mary University of London, United Kingdom

Yang Cong, Shenyang Institute of Automation, China

Jingfeng Yang, Shenyang Institute of Automation, China

Yaohong Qu, Northwestern Polytechnical University, China

Xiang Yu, Beihang University, China

Publication Chairs:

Chenguang Yang, University of the West of England, United Kingdom

Qinglei Hu, Beihang University, China

Long Cheng, Institute of Automation, Chinese Academy of Sciences, China

Guo Xie, Xi’an University of Technology, China

Jinwen Hu, Northwestern Polytechnical University, China

Tong Zhang, South China University of Technology, China

Special Session Chairs:

Hongyi Li, Guangdong University of Technology, China

Zhengguang Wu, Zhejiang University, China

Ziyang Meng, Tsinghua University, China

Jing Xin, Xi’an University of Technology, China

Zhijia Zhao, Guangzhou University, China

Zhijie Liu, University of Science and Technology Beijing, China

Finance Chairs:

Qiang Fu, University of Science and Technology Beijing, China

Local Arrangement Chairs:

Yao Yu, University of Science and Technology Beijing, China

Liang Sun, University of Science and Technology Beijing, China

Registration Chairs:

Yongliang Yang, University of Science and Technology Beijing, China

Yao Zou, University of Science and Technology Beijing, China

5

Conference Information

Important information

Time: August 27–30, 2019

Venue: The Third Floor of Block B in Techart Plaza, 30 Xueyuan Road, Haidian

District, Beijing

Agenda: August 28–29, 2019, Academic Lectures and Discussion

Official Languages: English

Registration

Registration Time: August 27, 14:00–20:00; August 28, 08:00–18:00; August 29,

08:00–18:00

Registration Desk: The Entrance Hall of Techart Plaza Convention Center or

Liaoning International Hotel

Remark: Out of registration time, please contact the Conference Administrative

Office

Staff: Min Zhao (+86-15321387636, [email protected]), Zhao Yin

(+86-18215577624, [email protected])

Contacting the Organizing Committee

Contacting Person: Zhijie Liu (+86-15201308399)

Website of ICIUS2019: http://icius2019.org

E-mail: [email protected]

Instruction for Oral Presentations

Oral Presentation Time: 15 minutes (including discussion);

Each speaker is required to meet his/her session chairs in the corresponding

session rooms 10 minutes before the session starts and copy the slides to the

computer;

Each session room is equipped with a projector and a PC (with Microsoft

Windows and Microsoft Power-Point). Please make sure that your files are

compatible and readable with our operation system by using commonly used

fonts and symbols.

http://icius2019.org/

mailto:[email protected]

6

Program Schedule

August 27 (Tuesday) August 28 (Wednesday) August 29 (Thursday) August 30 (Friday)

Registration

Address: The entrance hall of the

Techar Plaza or Liaoning International

Hotel

(天工大厦 B 座一楼大厅或者辽宁大

厦一楼大厅)

Time: August 27, 14:00-20:00

August 28, 08:00-18:00

August 29, 08:00-18:00

Reception Dinner

Address: Xinjingya (新净雅烹小鲜)

Time: August 27, 18:00-20:00

08:30-08:45

08:45-09:00

09:00-09:45

09:45-10:05

10:05-10:50

10:50-11:35

Open Ceremony

Group photo

Plenary Talk #1 by Prof. Tianyou Chai

Tea Break

Plenary Talk #2 by Prof. C. L. Philip Chen

Plenary Talk #3 by Prof. Lei Xu

Room 6

08:30-09:15

09:15-10:00

10:00-10:15

10:15-10:35

10:35-11:20

Plenary Talk #4 by Prof. I-Ming Chen

Plenary Talk #5 by Prof. Kenzo Nonami

Tea Break

Presentation of ISIUS Contribution Award

Plenary Talk #6 Kwang-Joon Yoon

Room 6

Post-conference tour

Departure time: 7:30

Assembly address:

Liaoning

International Hotel

11:35-13:30 Lunch

Xinjingya (新净雅烹小鲜) 11:20-13:30

Lunch

Xinjingya (新净雅烹小鲜)

13:30-15:30

Award Session 1

Invited Session 1

Invited Session 2

Invited Session 3

Keynote Talk #1 and Keynote Talk #2

Room 1

Room 2

Room 3

Room 4

Room 6

13:30-15:30

Regular Session 3

Regular Session 4


Room 1

Room 2

Room 6

15:30-15:50 Tea Break 15:30-15:50 Tea Break

15:50-17:50

Award Session 2

Invited Session 4

Regular Session 1

Regular Session 2


Room 1

Room 2

Room 3

Room 4

Room 6

15:50-17:50

ICIUS Committee Meeting

Regular Session 5


Room 1

Room 2

Room 6

18:00-19:30 Dinner

Xinjingya (新净雅烹小鲜)

18:00-19:00

19:00-20:30

Best paper award

Celebrate for Prof. Widodo’s retirement

ICIUS2019 Announcement

Banquet (Xinjingya 新净雅烹小鲜)

*”Room 1” denotes “The First Conference Room”（第一会议室）, and the others are the same as “Room 1”.

7

Technical Program

Wednesday, August 28, 2019

Plenary Talk 09:00-11:35 Techart Plaza, Block B, F3

The Sixth Conference Room

Plenary Talk #1 09:00-9:45

Host: OKyay Kaynak Bogazici University

Title: CPS Driven Control System

Tianyou Chai Northeastern University


Host: Wei He University of Science and Technology Beijing

Title: To be confirmed

Chun Lung Philip Chen University of Macau


Host: Youmin Zhang Concordia University

Title: Deep Bidirectional Learning and Deep Bidirectional

Intelligence

Lei Xu Chinese University of Hong Kong

Keynote Talk 14:00-17:20 Techart Plaza, Block B, F3


Keynote Talk#1 14:00-14:45

Host: Chenguang Yang Swansea University


Youmin Zhang Concordia University


Host: Jinwen Hu Northwestern Polytechnical University


Quan Pan Northwestern Polytechnical University


Host: Long Cheng Institute of Automation,

Chinese Academy of Sciences


Yongchun Fang Nankai Univeristy


Host: Zhengguang Wu Zhejiang University


Xin Xu National University of Defense Technology

Invited Session 1 13:30-15:30 Techart Plaza, Block B, F3

The Second Conference Room

Bio-Inspired Flapping Flight

Chair: Hoon Cheol Park Konkuk University

Co-Chair: Lung-Jieh Yang Tamkang University

Paper 0009 13:30-13:45

Video Stabilization System Development for a Servo-driven

Flapping Wing Aerial Vehicle

Fusen Feng University of Science and Technology Beijing

Kai Huang University of Science and Technology Beijing

Haifeng Huang University of Science and Technology Beijing

Hongxing Liu University of Science and Technology Beijing

Xinxing Mu University of Science and Technology Beijing

Qiang Fu University of Science and Technology Beijing

Wei He University of Science and Technology Beijing

Paper 0021 13:45-14:00

Design of a Wing Rotation Mechanism for a FWMAV

Saravana Kompala Tamkang University

Nikhil Panchal Tamkang University

Lung-Jieh Yang Tamkang University

Balasubramanian Esakki Vel Tech Rangarajan Dr. Sagunthala

R&D Institute of Science and Technology

Sarasu Packiriswamy Vel Tech Rangarajan Dr. Sagunthala

R&D Institute of Science and Technology

Paper 0011 14:00-14:15

Improvement of Vertical Jumping Performance of Jump-flapper

Gi Heon Ha Konkuk University

Hoang Vu Phan Konkuk University

Hoon Cheol Park Konkuk University

Paper 0019 14:15-14:30

Towards Longer Flight of Insect-like KUBeetle Robot


Steven Aurecianus Konkuk University

Jeong Ho Lee Konkuk University

Taesam Kang Konkuk University


Paper 0023 14:30-14:45

Two-dimensional Aerodynamic Characteristics of Corrugated

Wings

Thanh Tien Dao Konkuk University

Thi Kim Loan Au Konkuk University


8

Soo Hyung Park Konkuk University


Paper 0052 14:45-15:00

Effect of Corrugation on Aerodynamics Performance of

Three-dimensional Flapping-wings

Loan Au Konkuk University

Soo Hyung Park Konkuk University



Paper 0086 15:00-15:15

Aerodynamic Characteristics of the Coaxial Quad-Wing Flapper

Huan Shen Nanjing Univ. of Aeronautics and Astronautics

Aihong Ji Nanjing Univ. of Aeronautics and Astronautics

Qian Li Nanjing Univ. of Aeronautics and Astronautics

Wei Wang Nanjing Univ. of Aeronautics and Astronautics

Jiwei Yuan Nanjing Univ. of Aeronautics and Astronautics

Guangjian Gu Nanjing Univ. of Aeronautics and Astronautics


The Third Conference Room

Space Robotic Systems Modelling and Autonomous Control

Chair: Liang Sun Univ. of Science and Technology Beijing

Co-Chair: Yao Zou Univ. of Science and Technology Beijing

Paper 0008 13:30-13:45

An Active Fault-Tolerant Control Strategy for Autonomous

Euler-Lagrange Unmanned Systems Affected by Simultaneous

Sensor and Actuator Faults

Khashayar Khorasani Concordia University

Maryam Abdollahi Concordia University

Paper 0020 13:45-14:00

Combined Direct and Indirect Adaptive Control for Spacecraft

Attitude Tracking

Wenjie Su Beihang University

Haichao Gui Beihang University

Paper 0026 14:00-14:15

Fixed-Time Stabilization for a Class of Uncertain Nonlinear

Systems

Chih-Chiang Chen National Cheng Kung University

Chi-Hsuan Ding National Cheng Kung University

Guan-Shiun Chen National Cheng Kung University

Paper 0028 14:15-14:30

Attitude and Position-Oriented Active Disturbance Rejection

Control for Drag-Free Satellites

Fei Yang University of Science and Technology Beijing

Paper 0073 14:30-14:45

Predefined Containment Control for Second-order Multi-agent

Systems with Time-varying Delays and Switching Topologies

Shiyu Zhou Northwestern Polytechnical University

Yongzhao Hua Beihang University

Xiwang Dong Beihang University

Qingdong Li Beihang University

Zhang Ren Beihang University

Jinwen Hu Northwestern Polytechnical University

Paper 0074 14:45-15:00

Mini Quadrotor Design for Real-time Data Acquisition

Jeong-Hwan Kim Konkuk University

Seong Lok Nam Konkuk University

Aurecianus Steven Konkuk University

Jungkeun Park Konkuk University


Paper 0098 15:00-15:15

Distributed Optimal Dynamic Formation Control of Multi-agent

Systems in Nonconvex Environments

Siqi Wang University of Science and Technology Beijing

Xinmiao Sun University of Science and Technology Beijing

Dawei Ding University of Science and Technology Beijing


The Fourth Conference Room

Distributed Parameter Systems Control and Applications

Chair: Zhijia Zhao Guangzhou University

Co-Chair: Zipeng Wang University of Jinan

Co-Chair: Zhijie Liu University of Science

and Technology Beijing

Paper 0015 13:30-13:45

Adaptive Vibration Control For a Flexible String in the Presence

of Input and Output Constraints

Jianing Zhang Guangzhou University

Jun Shi Guangzhou University

Zhijia Zhao Guangzhou University

Qinmin Yang Zhejiang University

Paper 0051 13:45-14:00

Multiple Sensors Fault Diagnosis for Aero-Engine Based on

Kalman Filter

Zhen Zhao Civil Aviation University of China

Zhiyong Fan Civil Aviation University of China

Jun Zhang Civil Aviation University of China

Paper 0082 14:00-14:15

Stabilization of Linear Delayed Korteweg-de Vries Equation

with Unknown Disturbance by Using Constrained Control

Wen Kang University of Science and Technology Beijing

9

Dawei Ding University of Science and Technology Beijing

Paper 0084 14:15-14:30

On Designing Sampled-Data Observer with Exponential

Time-Varying Gains For Linear Time-Delay Distributed

Parameter Systems

Zipeng Wang University of Jinan

Huaining Wu Beihang University

Xiaohong Wang University of Jinan

Paper 0128 14:30-14:45

Boundary Control of a Flexible Satellite System with Unknown

External Disturbance

Xiaohui Zheng South China University of Technology

Wenkang Zhan South China University of Technology

Yu Liu South China University of Technology

Paper 0014 14:45-15:00

Vibration Boundary Control of a String System with Input

Dead-zone

Jianing Zhang Guangzhou University

Yonghao Ma Guangzhou University

Zhijia Zhao Guangzhou University

Paper 0136 15:00-15:15

Adaptive Output Feedback Control for Non-Square Systems

Zhiqiang Lin Guangzhou University

Junfeng Huang Guangzhou University

Zhifeng Tan

Paper 0140 15:15-15:30

Stability Control Design for a Flexible Beam System with

Deflection and Speed Output Constraints



Zhifeng Tan Guangzhou University

Award Session 1 13:30-15:30 Techart Plaza, Block B, F3

The First Conference Room

Best Student Paper Evaluation

Chair: Haibin Duan Beihang University

Co-Chair: Jun Fu Northeastern University

Paper 0018 13:30-13:50

Flapping-Wing Micro Aerial Vehicle (FW-MAV) System

Modelling and Control Study

Steven Aurecianus Konkuk University




Paper 0062 13:50-14:10

Design and Simulation of a Hydrocarbon Inspired

Reconfigurable Modular Track Robots (RMTR)

Xing Li Shenyang Institute of Automation, CAS

Jinguo Liu Shenyang Institute of Automation, CAS

Zhaojie Ju University of Portsmouth

Chenguang Yang Swansea University

Paper 0070 14:10-14:30

Laser Guided Semantic Depth Prediction System - An Indoor

Micro UAV Navigation Platform

Sutthiphong Srigrarom University of Glasgow Singapore

Mark Tay University of Glasgow Singapore

Paper 0071 14:30-14:50

Formation Control of Quadrotors with Maintaining Connectivity

and Avoiding Collision

Zhaoyang Liu Tianjin University

Chaoxu Mu Tianjin University

Shunshan Tan Beijing Institute of Control Engineering

Youyi Zhou Tianjin University

Hao Luo Tianjin University

Paper 0111 14:50-15:10

Design and Evaluation of Autonomous Aerial Survey System

Gunnho Song Konkuk University

Kunwoo Park Konkuk University

Kwang Joon Yoon Konkuk University

Paper 0122 15:10-15:30

Control of Fully Actuated MSV with Stochastic Disturbances

and Output Constraints

Yujun Zou South China University of Technology

Shude He South China University of Technology

Shi-Lu Dai South China University of Technology

Chao Dong South China University of Technology



Modeling, Control and Estimation in Unmanned Systems

Chair: Jinwen Hu Northwestern Polytechnical University

Co-Chair: Zhao Xu Northwestern Polytechnical University.

Co-Chair: Chunhui Zhao Northwestern Polytechnical University

Paper 0049 15:50-16:05

Multi-agent Formation Control Based on Voronoi Partition


Man Wang Northwestern Polytechnical University

Chunhui Zhao Northwestern Polytechnical University

Quan Pan Northwestern Polytechnical University

Paper 0053 16:05-16:20

Lidar-camera Based 3D Obstacle Detection For UGVs

10


Ce Wang Northwestern Polytechnical University

Boyin Zheng Northwestern Polytechnical University

Paper 0097 16:20-16:35

Nominal Model Based Robust Tracking Control of Quadrotor

UAV via Sliding Mode Control Strategy

Hamid Maqsood Northwestern Polytechnical University

Yaohong Qu Northwestern Polytechnical University

Paper 0099 16:35-16:50

System Modeling and Controller Design for Aircraft Lateral

motion

Waqas Ahmed Northwestern Polytechnical University

Zhongjian Li Northwestern Polytechnical University

Muhammad Tariq Sadiq Northwestern Polytechnical University

Muhammadistan Northwestern Polytechnical University

Paper 0104 16:50-17:05

Monocular UAV Target Following Based on Deep Learning

Zhao Lin Northwestern Polytechnical University



Jiayu Wang Northwestern Polytechnical University

Paper 115 17:05-17:20

State Estimation in Visual Inertial Autonomous Helicopter

Landing Using Optimization on Manifold

Thinh Hoang Dinh Ho Chi Minh City Univ. of Technology

Hieu Le Thi Hong Ho Chi Minh City Univ. of Technology

Dinh Tri Ngo Ho Chi Minh City Univ. of Technology

Paper 0016 17:20-17:35

Establishment and Legal Preparation of a Hungarian UAS

Meteorological Research Project at a Military Airport

Csaba Zoltán Fekete Hungary

Máté Gajdos Hungary

Zsolt Bottyan Hungary

Matyas Palik Hungary

Paper 0061 17:35-17:50

Hyperspectral Image Classification Based on Improved

Weighted Markov Random Fields

Guangyi Wang Northwestern Polytechnical University


Yaohong Qu Northwestern Polytechnical University

Honggang Yu Xi'an University of Technology

Hamid Maqsood Northwestern Polytechnical University

Regular Session 1 15:50-17:50 Techart Plaza, Block B, F3

The Third Conference Room

Multi-agent Systems and Distributed Control

Chair: Ruizhuo Song University of Science and

Technology Beijing

Co-Chair: Junwei Wang University of Science and

Technology Beijing

Paper 0012 15:50-16:05

Leader-following Cluster Consensus of Second-order Nonlinear

Multi-agent Systems via Pinning Control

Hongjian Li University of Science and Technology Beijing

Junjie Zhao University of Science and Technology Beijing

Cuijuan An University of Science and Technology Beijing

Xianggui Guo University of Science and Technology Beijing

Paper 0054 16:05-16:20

Bipartite State Tracking of Heterogeneous Systems on Signed

Digraphs Using Reinforcement Learning

Ruizhuo Song University of Science and Technology Beijing

Lina Xia University of Science and Technology Beijing

Paper 0063 16:20-16:35

A Distributed Hardware-in-loop (HIL) Simulation Platform for

Multi-UAV Systems

Qiuyang Tian University of Electronic Science

and Technology of China

Chen Lin University of Electronic Science


Bo Zhu Sun Yat-Sen University

Chen Peng University of Electronic Science


Paper 0075 16:35-16:50

Boundary Leader-enabled Multi-robot Cooperative Dynamic

Pollutant Plume Monitoring

Junwei Wang University of Science and Technology Beijing

Yi Guo Stevens Institute of Technology

Paper 0089 16:50-17:05

The Influence of Communication Radius on the Scalability of

Multi-agent System

Yue Liu University of Science and Technology Beijing

Yongnan Jia University of Science and Technology Beijing

Qing Li University of Science and Technology Beijing

Yalin Shang University of Science and Technology Beijing

Zheng Cai University of Science and Technology Beijing

Paper 0123 17:05-17:20

Distributed Cooperative Learning Control for Multi-manipulators

Tao Teng South China University of Technology

Chenguang Yang South China University of Technology

Wei He University Of Science and Technology Beijing

11

Paper 0129 17:20-17:35

Evolving Swarm for Search and Rescue Mission: Potential,

Development and Risk

Faqihza Mukhlish The University of New South Wales

John Page The University of New South Wales

Michael Bain The University of New South Wales


The Fourth Conference Room

Intelligent Unmaned Systems

Chair: Wendong Xiao University of Science


Co-Chair: Xiang Yu Beihang University

Paper 0059 15:50-16:05

Reconfigurable Control Design with Consideration of

Performance Degradation via Flight Envelope Analysis

Xiang Yu Beihang University

Xiaobin Zhou Concordia University


Lei Guo Beihang University

Paper 0067 16:05-16:20

WiFi based Wireless Non-Contact Heart Rate Detection

Kai Song University of Science and Technology Beijing

Ziqiu Zhao University of Science and Technology Beijing

Zhenyue Gao University of Science and Technology Beijing

Wendong Xiao University of Science and Technology Beijing

Paper 0106 16:20-16:35

Comprehensive-Competitive Learning Particle Swarm

Optimization with History Information Based Adaptive Mutation

Operator for Large Scale Optimization

Dongyang Li Tongji University

Lei Wang Tongji University

Weian Guo Tongji University

Paper 0112 16:35-16:50

Real-time and High-precision Indoor Localization System Based

on WiFi CSI

Ziqiu Zhao University of Science and Technology Beijing

Zhenyue Gao University of Science and Technology Beijing

Kai Song University of Science and Technology Beijing


Paper 0125 16:50-17:05

Auto-correlogram Representations with Diversity Sampling for

Biological Neural Network Perception

Yanfen Mao Tongji University

Weian Guo Tongji University

Yanling Xu Tongji University

Paper 0126 17:05-17:20

A Novel Algorithm for Paroxysmal Atrial Fibrillation Detection

Based on Multi-Level RR Interval Features

Yuxiang Yang University of Science and Technology Beijing


Jiankang Wu University of Chinese Academy of Sciences

Paper 0127 17:20-17:35

The Effect of Static Var Compensator on Power System Stability



Zhang Yong Tianjin University



Paper 0131 17:35-17:50

Method for Estimating the Internal Temperature of Machine

Tool Spindle from Surface Temperature

Yuh-Chung Hu National ILan University

David T.W. Lin National University of Tainan

Chun-Ping Jen National Chung Cheng University

Award Session 2 15:50-17:50 Techart Plaza, Block B, F3


Best Conference Paper Evaluation

Paper 0048 15:50-16:10

Micro-Molding Fabrication and Aerodynamic Analysis of

Corrugated Flapping Wing

Niroj Kapri Tamkang University

Lung-Jieh Yang Tamkang University


Paper 0065 16:10-16:30

Vibration Control for a Flexible Aerial Refueling Hose under

Input Magnitude and Rate Constraints

Zhijie Liu University of Science and Technology Beijing

Guang Li Queen Mary University of London

Paper 0078 16:30-16:50

Characterization of a Delta Tail for an Ornithopter: Effect of Tail

Size and Rotation

Joydeep Bhowmik IIEST Shibpur

Debopam Das IIT Kanpur

Sonu Pal IIT Kanpur

Paper 0090 16:50-17:10

Prototype of Multirotor Attached Variable Wing Kite for

Airborne Wind Energy Generation

Kiyoteru Hayama Kumamoto College

Tomohiro Kudou Kumamoto College

Hiroki Irie Yatsushiro College

http://www.cse.unsw.edu.au/~mike

12

Paper 0103 17:10-17:30

Object Traversing by Monocular UAV in Outdoor Environment

Houxin Zhang Northwestern Polytechnical University


Zhuoyi Li Northwestern Polytechnical University


Paper 134 17:30-17:50

V-SLAM Loop Closure Detection Based on Deep Compression

Network

Jing Xin Xi'an University of Technology

Na Zhang Xi'an University of Technology

Yin Yang Xi'an University of Technology


13

Thursday, August 29, 2019

Plenary Talk 09:00-11:35 Techart Plaza, Block B, F3



Host: Lung-Jieh Yang Tamkang University

Title: Robotic Perception and Learning for Intelligent

Manufacturing and Warehouse Automation

I-Ming Chen Nanyang Technological University


Host: Hoon Cheol Park Konkuk University

Title: Current Status of world Industrial Drones and Urgent

Technical Issues

Kenzo Nonami Chiba University


Host: Agus Budiyono Institute of Technology Bandung

Title: Development of Small Winged Drone for Missions in

Amphibious Environment

Kwang-Joon Yoon Konkuk University

Keynote Talk 14:00-17:20 Techart Plaza， Block B, F3



Host: Tong Zhang South China University of Technology

Title: Development of Key Technology for Human Cooperative

Wearable robots and Its Applications

Zhijun Li University of Science and Technology of China


Host: Ziyang Meng Tsinghua University

Title: Model Reference Resilient Control for Helicopter with

Time-varying Disturbance

Mou Chen Nanjing University of Aeronautics and Astronautics


Host: Xiang Yu Beihang University


To be confirmed


Host: Guo Xie Xi’an University of Technology


To be confirmed



Nonlinear Systems and Control

Chair: Qinmin Yang Zhejiang University

Co-Chair: Yongliang Yang University of Science and

Technology Beijing

Paper 0114 13:30-13:45

Non Linear Dynamic Inversion Based Guidance and Control

Approaches for Autonomous Landing of UAV

Pooja Josekumar College of Engineering Trivandrum

Dinesh Kumar M Vikram Sarabhai Space Centre

Beena N College of Engineering Trivandrum

Paper 0116 13:45-14:00

Design and Analysis of on-line Secondary Path Identification by

Using Variable Step Size LMS Algorithm for Active Vibration

Control System

Muhammadistan Northwestern Polytechnical University

Tang Wei Northwestern Polytechnical University

Adnan Ashraf Northwestern Polytechnical University

Waqas Ahmed Northwestern Polytechnical University

Tanveer Ali Northwestern Polytechnical University

Paper 0118 14:00-14:15

Sampled-Data Filtering for Interval Type-2 Fuzzy Systems with

Time-varying Delays and Parameter Uncertainties

Guangtao Ran Harbin Institute of Technology

Jian Liu University of Science and Technology Beijing

Yanling Zhang University of Science and Technology Beijing

Paper 0119 14:15-14:30

Fault Detection Filter Design for a Class of Conic-Type

Nonlinear Systems

Jiancheng Wang Anhui Unversity

Chengcheng Ren Anhui Unversity

Shuping He Anhui Unversity

Paper 0130 14:30-14:45

Backstepping-Based Tracking Control for VTOL UAVs With

Time-varying Output Constraints

Jinglan Li Zhejiang University

Qinmin Yang Zhejiang University

Yunpeng Li Zhejiang University

Wei Zhang Civil Aviation University of China

Paper 0132 14:45-15:00

Excitation Force Estimation for Wave Energy Converters Using

Super Twisting Observer

Yao Zhang Queen Mary University of London



Paper 0072 15:00-15:15

Dynamic Event-Triggered H_infinity Control of Switched Linear

Systems

14



Hongchao Liu Hebei University of Technology



Paper 0079 15:15-15:30

Adaptive Network Control for a Class of Underactuated Systems

with Quantized Input Signal and Bounded Disturb

Lijun Wang University of Science and Technology Beijing

Rong Mei University of Science and Technology Beijing

Jinkun Liu Beihang University

Wencong Deng University of Science and Technology Beijing



UAV and its Application

Chair: Sutthiphong Srigrarom National Univ. of Singapore

Co-Chair: Yao Yu University of Science and

Technology Beijing

Paper 0007 13:30-13:45

Laser Guided Semantic Depth Prediction System -An indoor

micro UAV navigation platform

Sutthiphong Srigrarom National University of Singapore

Mark Tay University of Glasgow Singapore

Paper 0055 13:45-14:00

Development of VTOL with Movable Legs

Masafumi Miwa Tokushima University

Sho Goto Tokushima University

Paper 0056 14:00-14:15

A Design of Server-less Distributed UTM System

Yuichi Yaguchi University of Aizu

Yuta Sakaguchi University of Aizu

Kyota Tamagawa University of Aizu

Paper 0058 14:15-14:30

A Mesoscale Meteorological Observation System Using Drone

Fleet

Yuichi Yaguchi University of Aizu

Masayuki Itaha Japan Environment Research Co., Ltd.

Shuzo Nakano Japan Environment Research Co., Ltd.

Kazuhiko Yamagishi e-Robotics Fukushima Co., Ltd.

Tatsuya Iyobe Iyobe Shoji Co., Ltd.

Akira Sasaki GClue. Inc.

Paper 0064 14:30-14:45

CNN Based Autonomous Navigation and Vehicle Detection on

UAV Platform

Yuxin Mao Institute of Systems Science and

Technology, Southwest Jiaotong University

Xi Dai Institute of Systems Science and


Deqing Huang Institute of Systems Science and


Paper 0068 14:45-15:00

Development of Diving Tilt Rotor UAV

Yuto Takigawa Tokushima university

Masafumi Miwa Tokushima university

Paper 0087 15:00-15:15

HOPE - a Novel UAV Design Suitable for Efficient VTOL and

Cruising Missions

Lam Ngo Tung Ho Chi Minh City University of Technology

Thinh Hoang Ho Chi Minh City University of Technology

Khoi N. T. Anh Ho Chi Minh City University of Technology

Khanh Nguyen Ho Chi Minh City University of Technology

Duc Pham Minh Ho Chi Minh City University of Technology

Tri Pham Huynh Ho Chi Minh City University of Technology

Hieu Le Thi Hong Ho Chi Minh City University of Technology

Hien N. Ngoc Ho Chi Minh City University of Technology

Paper 0113 15:15-15:30

Development of RTK (Real-Time Kinematic) GPS Based

System for Precision Landing and Charging of Multi-copter

Drone

Kunwoo Park Konkuk University

Gunnho Song Konkuk University

Kwang Joon Yoon Konkuk University



Robot Control and its Application

Chair: Muljo Widodo Kartidjo Institute of Technology

Bandung

Co-Chair: Qing Guo University of Science and

Technology of China

Paper 0027 15:50-16:05

Two-DOF Manipulator Joint Rotation Control Driven by

Electrohydrualic Actuator

Qing Guo University of Science and Technology of China

Xiaochai Li University of Science and Technology of China

Fan Guo University of Science and Technology of China

Paper 0046 16:05-16:20

Human-Robot Object Handover

Jiashu Li University of Science and Technology Beijing

Zichen Yan University of Science and Technology Beijing


15

Paper 0057 16:20-16:35

Actuator Fault Detection for Autonomous Ground Vehicles

Wenwen Song University of Science and Technology Beijing

Qing Li University of Science and Technology Beijing

Heng Wang University of Science and Technology Beijing

Zhuoer Xue University of Science and Technology Beijing

Zheng Cai University of Science and Technology Beijing

Paper 0080 16:35-16:50

Performance Evaluation of the Shape and Flexibility

Combination of the Underwater Biomimetic Fin Propulsion

Arie Sukma Jaya Institute of Technology Bandung

Muljo Widodo Kartidjo Institute of Technology Bandung

Paper 0081 16:50-17:05

Hydrodynamic Design and Analysis of Low-drag Hybrid-AUV

ITB

Muljo Widodo Kartidjo Institute of Technology Bandung

Raja A. M. Manullang Institute of Technology Bandung

Arie Sukma Jaya Institute of Technology Bandung

Paper 0101 17:05-17:20

Robot Learning from Demonstrations with Obstacle Avoidance

Based on GMM/GMR and Boundary Following

Uchenna Ogenyi University of Portsmouth

Zhaojie Ju University of Portsmouth

Honghai Liu University of Portsmouth

JinguoLiu Shenyang Institute of Automation


Jiacheng Tan University of Portsmouth

Qing Gao University of Chinese Academy of Sciences

Paper 0121 17:20-17:35

Switching Extended Kalman and Sparse Extended Information

Filtering SLAM Algorithm Based on Fuzzy Logic

Hang Fu University of Science and Technology Beijing

Chao Ma University of Science and Technology Beijing

Wei Wu Institute of Automation, Chinese Academy of Sciences

Yidao Ji University of Science and Technology Beijing

Wenjun Zhu Nanjing Tech University

Paper 0124 17:35-17:50

Curvilinear Path Generation for UGV with Improved Ant Colony

Algorithm

Hub Ali University of Science and Technology of China

Dawei Gong University of Science and Technology of China

Xinyue Lan University of Science and Technology of China

Anxu Li University of Science and Technology of China

Poster Session 13:30-17:50 Techart Plaza, Block B, F3

The Corridor

Chair: Liang Sun University of Science and Technology Beijing

Co-Chair: Yao Zou University of Science


Co-Chair: Liu Zhijie University of Science


Paper 0010

Wing Rotation FWMAV Using Servos

Nikhil Panchal Tamkang University


Reshm Waikhom Tamkang University

Lung JiehYang Tamkang University

Wei He University of Science & Technology Beijing

Yuan Lung Lo Tamkang University

Paper 0017

Nonlinear Model Predictive Control Based Six-DoF Precision

Lunar Landing

Qingqing Dang Sun Yat-Sen University

Haichao Gui Beihang University

Kun Liu Sun Yat-Sen University

Paper 0030

Boundary Output Feedback Control of a Flexible Manipulator

System with High-gain Observers

Rui Liu University of Science and Technology Beijing

Shuang Zhang University of Science and Technology Beijing

Xinyu Qian University of Science and Technology Beijing


Paper 0069

Prescribed Performance Backstepping Adaptive Controller

Design for a Class of Nonlinear Systems

Dexin Fan University of Science and Technology Beijing

Ailiang Xin University of Science and Technology Beijing

Yongliang Yang University of Science and Technology Beijing

Yixin Yin University of Science and Technology Beijing

Paper 0077

Neural Approximation-based Variable Impedance Control of

Robots

Xuexin Zhang Jiangsu University

Dongning Deng Jiangsu University

Tairen Sun Jiangsu Academy of Numerical Control Machine

Shaolin Zhang Institute of Automation,


Paper 0083

Sampled-Data Fuzzy Control with Exponential Time-Varying

Gains for Nonlinear Parabolic PDE Systems

16

Zipeng Wang University of Jinan

Huaining Wu Beihang University

Xiaohong Wang University of Jinan

Paper 0085

Research on Tracking Control of Four-wheel Independent

Steering Robot Based on Real-Time Offset

Chao Wang Anhui University

Guoli Li Anhui University

Fang Liu Anhui University

Xiang Dong Anhui University

Jiazi Xu Anhui University

Peng Wang Anhui University

Paper 0088

Fixed-time Event-triggered Formation Control for Multi-agent

Systems with Integrator Dynamics

Xiaofeng Chai University of Science and Technology Beijing

Yao Yu University of Science and Technology Beijing

Changyin Sun Southeast University

Paper 0091

Deep Kernel Canonical Correlation Analysis Based Multi-feature

Fusion Non-rigid 3D Model Retrieval Method

Fuzhou Wang University of Science and Technology Beijing

Qi Wang University of Science and Technology Beijing

Hui Zeng University of Science and Technology Beijing

Heping Li University of Science and Technology Beijing

Paper 0092 15:00-15:15

Boundary Iterative Learning Control of an Euler-Bernoulli Beam

Based Backstepping Technology

Yu Liu South China University of Technology

Wenkang Zhan South China University of Technology

Paper 0094

Performance Study of Stochastic Event-triggered Estimation

Algorithms for Wireless Sensor Networks

Yanyan Hu University of Science and Technology Beijing

Zengwang Jin University of Science and Technology Beijing

Chao Li University of Science and Technology Beijing

Ziming Ni University of Science and Technology Beijing

Paper 0102

Path Planning for Unmanned Vehicles Based on Q-learning


Congzhe Zhang Northwestern Polytechnical University


Man Wang Northwestern Polytechnical University

Paper 0137

Control Design of Flexible Mobile Manipulator Subject to

Actuator Degradation

Xueyan Xing Beihang University


Paper 0138

Stability Control Design for a One-dimensional Flexible Satellite

System with Input Backlash



Zhifeng Tan Guangzhou University

Paper 0139

An Adaptive-sparse Deep Belief Network with Improved

robustness

Gongming Wang Tsinghua University

Qingshan Jia Tsinghua University

Junfei Qiao Beijing University of Technology

Paper 0148

Stability Control Design for a One-dimensional Flexible Satellite

System with Input Backlash

Hongjun Yang Insititute of Automation



17

Plenary Talk 1

Title: CPS Driven Control System

Speaker: Professor Tianyou Chai

Abstract: China has abundance of mineral resources such as magnesite, hematite and

bauxite, which constitute a key component of its economy. The relatively low grade,

and the widely varying and complex compositions of the raw extracts, however, pose

difficult processing challenges including specialized equipment with excessive energy

demands. The energy intensive furnaces together with widely uncertain features of the

extracts form hybrid complexities of the system, where the existing modeling,

optimization and control methods have met only limited success. The recently

developed Cyber-Physical System (CPS) provides a new key for us to address these

challenges. The idea is to make the control system of energy intensive equipment into

a CPS, which will lead to a CPS driven control system.This talk presents the

syntheses and implementation of a CPS driven control system for energy-intensive

equipment under the framework of CPS. The proposed CPS driven control system

consists of four main functions: (I) setpoint control; (II) tracking control; (III)

self-optimized tuning; and (IV) remote and mobile monitoring for operating condition.

The key in realizing the above functions is the integrated optimal operational control

methods to implement setpoint control, tracking control and self-optimized tuning

together seamlessly. This talk introduces the integrated optimal operational control

methods we proposed.

Short Bio: Tianyou Chai received the Ph.D. degree in control

theory and engineering in 1985 from Northeastern University,

Shenyang, China, where he became a Professor in 1988. He is

the founder and Director of the Center of Automation, which

became a National Engineering and Technology Research

Center and a State Key Laboratory. He is a member of Chinese

Academy of Engineering, IFAC Fellow and IEEE Fellow. His

current research interests include modelling, control,

optimization and integrated automation of complex industrial

processes. He has published 230 peer reviewed international journal papers. His paper

titled Hybrid intelligent control for optimal operation of shaft furnace roasting process

was selected as one of three best papers for the Control Engineering Practice Paper

Prize for 2011-2013. He has developed control technologies with applications to

various industrial processes. For his contributions, he has won 4 prestigious awards of

National Science and Technology Progress and National Technological Innovation,

the 2007 Industry Award for Excellence in Transitional Control Research from IEEE

Multiple-conference on Systems and Control, and the 2017 Wook Hyun Kwon

Education Award from Asian Control Association.

18

Plenary Talk 2


Speaker: Professor Chun Lung Philip Chen

Abstract: To be confirmed

Short Bio: Prof. Chen received his M.S degree from the

University of Michigan, Ann Arbor, Michigan, U.S.A. in 1985,

and his Ph.D. degree from Purdue University, West Lafayette,

Indiana, U.S.A., in 1988, both degrees in Electrical

Engineering. He was with Wright State University, Department

of Computer Science and Engineering, from 1989 to 2002 as

an assistant, an associate and a full professor before he joined

the University of Texas, San Antonio, where he has been a

Professor and Chair of the Department of Electrical and

Computer Engineering, the Associate Dean for Research and Graduate Studies of the

College of Engineering. Science 2010, he is Chair Professor and the Dean of Faculty

of Science and Technology, University of Macau. He is a Fellow of the IEEE, AAAS

and IAPR. He was the President of IEEE Systems, Man, and Cybernetics Society

(SMCS) (2012-2013), where he also has been a distinguished lecturer for many years

and received Outstanding Service Awards 4 times. His research interests and projects

include computer networking, intelligent systems, neural networks, fuzzy-neural

systems and robotics.

19

Plenary Talk 3

Title: Deep Bidirectional Learning and Deep Bidirectional Intelligence

Speaker: Emeritus Professor Lei Xu

Abstract: Insights on learning and intelligence are provided from a deep bidirectional

perspective, featured by inward encoding/cognition and outward reconstruction /

implementation. First, we make an overview on bidirectional learning from those

studied in the later eighties and the early nineties, such as autoencoder, Lmser

reconstruction, and BYY harmony learning, to ones developed in recent years, such as

variational autoencoders, deep generative models, GAN, U-net, and DenseNet. Then,

we proceed to bidirectional intelligence, driven by long term dynamics for parameter

learning and short term dynamics for image thinking and rational thinking. Image

thinking deals with information flow as if thinking was displayed in the real world,

exemplified by typical tasks of bidirectional deep learning, while rational thinking

handles symbolic strings, performing uncertainty reasoning and problem solving,

exemplified by AlphaGoZero like searching, IBM Watson system, and causal

computation.

Short Bio: Lei Xu, Emeritus Professor, Chinese University of

Hong Kong; Zhiyuan Chair Professor, Shanghai Jiao Tong

University (SJTU); Chief Scientist, SJTU AI Research Institute;

Director of Neural Computation Research Centre in Brain and

Intelligence Science-Technology Institute, Shanghai ZhangJiang

National Lab; Received several national and international

academic awards, including 1993 National Nature Science

Award, 1995 Leadership Award from International Neural Networks Society (INNS)

and 2006 APNNA Outstanding Achievement Award. Elected to Fellow of IEEE in

2001; Fellow of intl. Association for Pattern Recognition in 2002 and of European

Academy of Sciences (EURASC) in 2003. Given over dozens keynote /invited

lectures at various international conferences. Served as EIC and associate editors of

several academic journals, e.g., including Neural Networks (1995-2016), IEEE Tr.

Neural Networks (1994-98). Taken various roles in academic societies, e.g., INNS

Governing Board (2001-03), the INNS award committee (2002-03), and the Fellow

committee of IEEE Computational Intelligence society (2006-07), and the EURASC

scientific committee (2014-17).

20

Plenary Talk 4

Title: Robotic Perception and Learning for Intelligent Manufacturing and Warehouse

Automation

Speaker: Professor I-Ming Chen

Abstract: Industry robot manipulators have been invented for nearly 50 years. In the

past, such robot manipulators are used in mass manufacturing lines and programmed

manually by engineers. However, as modern manufacturing moves into low volume

high mix products in a very tight schedule, it becomes very challenge to program the

robots to handle large variety of products and parts and also to make changes to the

manufacturing lines in a very short time. With advancement in 3D machine vision,

machine learning methods and fast computing power, there is an emerging trend to

put 3D perception device, machine learning technique into industry robots to make

them “smart’ enough to handle a variety of products in a changing environment. In

this speech, we will discuss how 3D perception systems and machine learning

techniques are used in manufacturing scenarios like intelligent masking/taping for

component maintenance, bi-manual manipulation for parts assembly and handling,

intelligent spray painting. We will use also Amazon Robotics Challenge and DHL

Robotics Challenge as examples to look at the integration of 3D perception, machine

learning and robot motion planning in warehouse automation to handle the

item-picking process.

Short Bio: Prof. I-Ming Chen is an internationally renowned

robotics researcher. He received the B.S. degree from National

Taiwan University in 1986, and M.S. and Ph.D. degrees from

California Institute of Technology, Pasadena, CA in 1989 and

1994 respectively. He has been with the School of Mechanical

and Aerospace Engineering of Nanyang Technological

University (NTU) in Singapore since 1995. He is Director of

Robotics Research Centre in NTU from 2013 to 2017. He is a

member of the Robotics Task Force 2014 under the National Research Foundation

which is responsible for Singapore’s strategic R&D plan in future robotics. His

research interests are in logistics and construction robots, wearable devices,

human-robot interaction and industrial automation. Professor Chen is Fellow of IEEE

and Fellow of ASME, General Chairman of 2017 IEEE International Conference on

Robotics and Automation (ICRA 2017) in Singapore. He is also CEO of Transforma

Robotics Pte Ltd developing robots for construction industry and CTO of Hand Plus

Robotics Pte Ltd developing robotics and AI solutions for logistics and manufacturing

industry. He will be the Editor-in-chief for the tier 1 journal: IEEE/ASME

Transactions on Mechatronics starting from 2020.

21

Plenary Talk 5

Title: Current Status of world Industrial Drones and Urgent Technical Issues

Speaker: Professor Kenzo Nonami

Abstract: In this presentation, I first overlook the current state of utilization of world

industrial drones and the forefront including world UAS aviation reguration. Next, I

would like to consider the technical issues in each field and discuss how to overcome

the problem.

Short Bio: Prof. Kenzo Nonami received his MS degree and

Ph.D. degree in Mechanical Engineering in 1976 and 1979

respectively, from Tokyo Metropolitan University. He joined

Chiba University in 1979 as a Research Associate, Associate

Professor from 1988 to 1994. Since 1994, he has been a full

professor in Department of Mechanical Engineering and

Department of Electronics and Mechanical Engineering at

Chiba University. In 2004, Dr. Kenzo Nonami was a vice dean

of faculty of Engineering. Also, he has carried out a research in NASA in USA during

two years from 1985 to 1988. Now, Dr. Nonami is a vice president from April, 2008.

His recent research interests are fully autonomous unmanned small-scale helicopter,

micro air vehicle, quad tilt wing unmanned aerial vehicle, land mine detection robots

with multi-functional arm, walking machines, master slave manipulator and dual

manipulator hand system, unmanned autonomous boats, flywheel energy storage

system with active magnetic bearing powered electric vehicle, robust and nonlinear

control, control applications.

22

Plenary Talk 6

Title: Development of small winged drone for missions in amphibious environment

Speaker: Professor Kwang-Joon Yoon

Abstract: In recent years, many countries are developing military and civil unmanned

aerial vehicle (UAV) for various utilization in many fields. Multi-copter system has

been specifically developed for UAV because it has a lot of advantages due to its

simple automatic propeller control system. This lecture introduces the design/

manufacturing/ flight test of winged drone with 4 propeller and 2 tilt propeller system

for missions in amphibious environment. Conceptual system design has performed to

have VTOL (vertical take-off and landing) function and tilt propeller system to fly

with cruse speed more than 100km/h. MTOW (maximum take-off weight). The total

weight is less than 10kg and maximum size is less than 2.0m. A drone with wings was

chosen to increase energy efficiency and to withstand strong wind environment.

Automatic flight control system and landing system on ground and water surface also

designed and verified through flight test. Dual floater system with small wheel was

designed for missions in amphibious environment. The developed winged drone can

be used for various missions, such as military application, fireman, policeman,

monitoring of disaster, delivery service.

Short Bio: Prof. Kwang-Joon Yoon is a professor of Aerospace

Engineering, director of Smart Drone Center. He received his

doctoral degree in Aeronautics & Astronautics Engineering

from Purdue University, USA, master and bachelor degree in

Aerospace Engineering from Seoul National University, Korea.

Professor Yoon leads a number of research projects with

funding from Korea government agencies and industries. Dr.

Yoon received several awards including the world’s smallest

Micro Aerial Vehicle Award in 1995 from International MAV

competition. His current research interests are development of small UAV with fixed

wing, rotary wing and flapping wing, smart structure and material. He was the general

chair of “International Conference on Emerging System Technology,” 2005, Seoul,

Korea He was the president of ISIUS (Int. Society of Unmanned Intelligence System)

during 2016-7 and is a senior member of National Academy of Engineering of Korea.

He published more than 140 peer-reviewed journal, conference proceedings papers

and patents.

23

Keynote Talk 1


Speaker: Professor Youmin Zhang


Short Bio: Youmin Zhang is a Professor in the Department of

Mechanical and Industrial Engineering and the Concordia

Institute of Aerospace Design and Innovation (CIADI) at

Concordia University, Canada. His main research interests and

experience are in the areas of condition monitoring, fault

diagnosis and fault-tolerant (flight) control systems;

cooperative guidance, navigation and control of unmanned

aerial/ground vehicles; dynamic systems modeling, estimation,

identification and control; and advanced signal processing

techniques for diagnosis, prognosis and health management of

safety-critical systems and manufacturing processes. He has published 4 books and

over 500 journal and conference papers. He is a senior member of AIAA, senior

member of IEEE, a member of the IFAC Technical Committee on Fault Detection,

Supervision and Safety for Technical Processes, and a member of the AIAA

Infotech@Aerospace Program Committee (PC) on Unmanned Systems. He is an

editorial board member of several international journals and IPC member of many

international conferences.

24

Keynote Talk 2


Speaker: Professor Quan Pan


Short Bio: Prof. Pan received the B.E. degree from Huazhong

Institute of Technology in 1991, and the M.E. and Ph.D. degrees

from the Automation School at Northwestern Polytechnical

University (NPU) in 1991 and 1997, respectively. He is a professor

of the Automation School, and the Director of Research Institute of

Control & Information of NPU from 1998. He is the Duty Dean of

Graduate School of NPU from 1996 to 2002, the Duty Dean of

Management School of NPU from 2002 to 2004, and the Director of Office of

Development and Planning of NPU from 2004 to 2009. Now he is the Dean of the

Automation School of NPU from 2009. His research interests include information

fusion, hybrid system estimation theory, multi-scale estimation theory, target tracking

and image processing. He is a Member of IEEE, a Member of the International

Society of Information Fusion (ISIF), a Board Member of the Chinese Association of

Automation, and a Member of Chinese Association of Aeronautics and Astronautics.

He has published 6 books, and almost 30 international journal papers, including IEEE

TAC, Automatica and IEEE TSP. He obtained the 6th Chinese National Youth Award

for Outstanding Contribution to Science and Technology in 1998 and the Chinese

National New Century Excellent Professional Talent in 2000.

25

Keynote Talk 3


Speaker: Professor Yongchun Fang


Short Bio: Dr. Yongchun Fang is a distinguished professor, also

the vice head of the College of Computer and Control Engineering,

Nankai Univeristy. Dr. Fang received the B.S. degree in electrical

engineering and the M.S. degree in control theory and application,

both from Zhejiang University, P. R. China, in 1996 and 1999,

respectively, and the Ph.D. degree in electrical engineering from

Clemson University, SC, USA in 2002. From 2002 to 2003, he was

a Postdoctoral Fellow at the Mechanical and Aerospace Engineering Department,

Cornell University. Since 2003, he has been a professor at the Institute of Robotics

and Automatic Information System, Nankai University, Tianjin, P. R. China. Dr.

Fang’s research interests include underactuated systems control, visual servoing,

AFM-based nano-manipulation, and so on. He won the very prestigious “National

Distinguished Young Scholars” Award from National Science Foundation of China

(NSFC) in 2013. He is also an Awardee of Tianjin Youth Leaders in Technological

Innovation (2014), and an awardee of the 10th young scientist award of Tianjin. His

research has been well supported by National Science Foundation of China and other

Chinese government funding, such as the well-known National High Technology

Research and Development Program (“863” Program), the National Science and

Technology Pillar Program, and so on, with a total amount of about 19M RMB within

the recent 5 years. During the past 5 years, he has many papers published in

prestigious international journals, including more than 20 papers published by IEEE

Transactions. His work in underactuated overhead crane, visual servoing, and so on,

has been well cited around the world.

26

Keynote Talk 4


Speaker: Professor Xin Xu


Short Bio: Dr. Xin Xu received the B.S. degree in electrical

engineering from the Department of Automatic Control, National

University of Defense Technology (NUDT), Changsha, China, in

1996 and the Ph.D. degree in control science and engineering

from the College of Mechatronics and Automation, NUDT, in

2002.

He has been a Visiting Professor with Hong Kong Polytechnic

University, Hong Kong, the University of Alberta, Edmonton, AB, Canada, the

University of Guelph, Guelph, ON, Canada, and the University of Strathclyde,

Glasgow, U.K. He is currently a Professor with the College of Mechatronics and

Automation, NUDT, China. He has co-authored over 160 papers in international

journals and conferences, and co-authored four books. His current research interests

include intelligent control, reinforcement learning, approximate dynamic

programming, machine learning, robotics, and autonomous vehicles.

Dr. Xin Xu was a recipient of the Fork Ying Tong Youth Teacher Fund of China in

2008 and the 2nd class National Natural Science Award of China, in 2012. He serves

as the Co-Editor-in-Chief of the Journal of Intelligent Learning Systems and

Applications and the Associate Editor-in-Chief of CAAI Transactions on Intelligent

Technology (Elsevier). He is an Associate Editor of Information Sciences, Intelligent

Automation and Soft Computing, and Acta Automatica Sinica. He served as the Guest

Editor of the IEEE TRANSACTIONS ON SYSTEMS, MAN, AND CYBERNETICS:

SYSTEMS, the International Journal of Adaptive Control and Signal Processing, and

International Journal of Social Robotics. He is a member of the IEEE CIS Technical

Committee on Approximate Dynamic Programming and Reinforcement Learning and

the IEEE RAS Technical Committee on Robot Learning.

27

Keynote Talk 5

Title: Development of Key Technology for Human Cooperative Wearable robots and

Its Applications

Speaker: Professor Zhijun Li

Abstract: The development of human cooperative robotic systems capable of sharing

with humans the load of heavy tasks has been one of the primary objectives in

robotics research. At present, in order to fulfil such an objective, a strong interest in

the robotics community is collected by the so-called wearable robots, a class of

robotics systems that are worn and directly controlled by the human operator.

Wearable robots, together with powered orthoses that exploit robotic components and

control strategies, can represent an immediate resource also for allowing humans to

restore manipulation and/or walking functionalities. The present talks deals with

wearable robotics systems capable of providing different levels of functional and/or

operational augmentation to the human beings for specific functions or tasks.

Prostheses, powered orthoses, and exoskeletons are described for upper limb, lower

limb, and whole body structures. State-of-theart devices together with their

functionalities and main components are presented for each class of wearable system.

Critical design issues and open research aspects are reported.

Short Bio: Zhijun Li received the Ph.D. degree in mechatronics,

Shanghai Jiao Tong University, P. R. China, in 2002. From 2003

to 2005, he was a postdoctoral fellow in Department of

Mechanical Engineering and Intelligent systems, The University

of Electro-Communications, Tokyo, Japan. From 2005 to 2006,

he was a research fellow in the Department of Electrical and

Computer Engineering, National University of Singapore, and

Nanyang Technological University, Singapore. Since 2017, he is

a Professor in Department of Automation, University of Science and Technology of

China. He was supported by China National Ten-thousand Talents Program (China

2018), and received the prestigious award of National Distinguished Young Scholar

(NSFC 2016), and Distinguished Young Scientist Award (CAA 2017), Distinguished

Lecturer of IEEE Robotics and Automation Society (2018), Best Associate Editor

Award (IEEE SMC) Toshio Fukuda Best Mechatronics Award (ICARM 2017), etc.

From 2016, he has been the founders and Co-Chairs of Technical Committee on

Bio-mechatronics and Bio-robotics Systems (IEEE SMC), and Technical Committee

on Neuro-Robotics Systems (IEEE RAS). He is serving as an Editor-at-large of

Journal of Intelligent & Robotic Systems, and Associate Editors of several IEEE

Transactions. He was the founder of IEEE Conference on Advanced Robotics and

Mechatronics (IEEE ARM). He was the General Chair and Program Chair of

2016-2019 IEEE Conference on Advanced Robotics and Mechatronics, respectively.

28

Keynote Talk 6

Title: Model Reference Resilient Control for Helicopter with Time-varying

Disturbance

Speaker: Professor Mou Chen

Abstract: In this talk, the problem of model reference resilient control is investigated

for the helicopter system with time-varying disturbance and unmeasurable states.

Firstly, a state observer and a disturbance observer are developed to estimate the

unmeasurable states and the time-varying disturbance. Then, combining the methods

of model reference control and disturbance-observer-based-control (DOBC), the state

feedback robust resilient control scheme and the dynamic output feedback robust

resilient control method are proposed, respectively. Under the developed two robust

resilient control schemes, the sufficient conditions are obtained to guarantee that the

helicopter system asymptotically tracks the reference model with performance.

Finally, simulation results are presented to show the effectiveness of the model

reference resilient control method.

Short Bio: Mou Chen is now a professor and vice Dean of the

College of Automation Engineering, Nanjing University of

Aeronautics and Astronautics. He received the BSc degree and the

PhD degree in Nanjing University of Aeronautics and

Astronautics. He was awarded by the National Science Fund for

Distinguished Young Scholars in 2018 and was elected to the

Program for New Century Excellent Talents in University of

Ministry of Education of China in 2011. He visited the

Loughborough University, UK, from November 2007 to February 2008. He was a

postdoctoral fellow in the National University of Singapore, Singapore, from June

2008 to September 2009. He was a senior research fellow in the University of

Adelaide, Australia, from May 2014 to November 2014. He has actively served in the

editorial boards of a number of international journals as an associate editor, including

IEEE Transactions on Systems, Man, and Cybernetics: Systems, IEEE Access,

Neurocomputing, International Journal of Advanced Robotic Systems, Chinese

Journal of Aeronautics, SCIENCE CHINA Information Sciences, etc. He was a PI of

20 projects in the last five years, including the General Program of National Natural

Science Foundation of China, and the Project for Jiangsu Natural Science Foundation

of China, etc. He was awarded two Second Prize in China's State Natural Science

Award (ranking second), one First Prize in Natural Science Award of Ministry of

Education (ranking second), two Second Prize in National Defense Science and

Technology Progress (ranking first), and applied over 20 invention patents. He has

published one English monograph and one Chinese monograph. He was published

over 100 academic papers, more than 90 papers were published or accepted by

international journals among these papers.

29

Keynote Talk 7

To be confirmed

30

Keynote Talk 8

To be confirmed

31

Hotel & Transportation

For more information, please visit http://icius2019.org/

Floor Map of Conference Venue

Conference site: The Block B in Techart Plaza, 30 Xueyuan Road, Haidian

District, Beijing

Block B

（B座）

Techart Plaza

（天工大厦）

University of Science and

Technology Beijing

（北京科技大学）

Xu

ey

ua

n R

oa

d

（学院路）

Xueyuan Bridge

（学院桥）Middle Road Of North Fourth Ring Road

（北四环中路）

China University

of Geosciences

（中国地质大学）

Peking University Health

Science Center

（北京大学医学部）

Xinjingya

（新净雅）

The First Floor of Block B: Hall (Registration)

The Third Floor of Block B: The Sixth Conference Room (Plenary Talk,

Keynote Talk).

The Third Floor of Block B: The First to Fourth Conference Rooms on the

third floor (Invited Session, Regular Session, Election conference).

The Second Floor of Xinjingya: Place of The Banquet

http://icius2019.org/

32

Transportation

From Beijing Capital International Airport to Venue (The Block B in

Techart Plaza, 30 Xueyuan Road, Haidian District, Beijing).

Taxi

From Beijing Capital International Airport to Venue, about 40-60 minutes.

Public Bus and Railway

Beijing Capital

International Airport By Bus or Subway （坐公交或者地铁）（北京首都国际机场）

About 10 minutes

（约10分钟）

￥ 15 （约15元）

Airport Limousione Bus

（机场线）Terminal 3

Sanyuan Bridge

（三元桥）

On Foot（步行）

About 5 minutes

（约5分钟）

Sanyuan Bridge Station

（三元桥站）

Subway Line 10

（地铁10号线）

About 20 minutes

（约20分钟）

￥ 4 （约4元）Xitucheng Station

（西土城站）

On Foot（步行）

About 5 minutes

（约5分钟）

Xuezhi Bridge Station

（学知桥站）

Bus No. 693

（693路公交车）

About 10 minutes

（约10分钟）

￥2（2元）South of Chengfu Road Station

（成府路口南站）

On Foot（步行）

About 10 minutes

（约10分钟）

Conference Venue

About 60 minutes

（约60分钟）

￥30 （约30元）

Airport Limousione BusZhongguancun Line

（机场大巴中关村线）

Terminal 3

XueYuan Bridge Station

（学院桥站）

About 20 minutes

（约20分钟）

Conference Venue

On Foot（步行）

33

Weather:

To be confirmed.

34

Accommodation

Liaoning International Hotel（辽宁大厦）

Distance: 1.8Km from the Venue

Address: No.2 West Road of 4th North Ring Road, Haidian District, Beijing

Contact number: (8610) 62589999

Hotel website: http://www.liaoninginternationalhotel.com/zh_CN/index.html

Hanting Hotel, Beijing Zhongguancun Xueyuan Bridge (汉庭北京中关村学

院桥酒店)

Distance: 0.19km from the Venue

Address: 31 Xueyuan Road, Haidian District, Beijing, China

Contact number: 400 812 1121

Hotel website: https://www.trip.com/hotels/beijing-hotel-detail-1185267

http://www.liaoninginternationalhotel.com/zh_CN/index.html

35

Rujujia Express Hotel, Beijing Xueyuan Road（如居家快捷酒店学院路店）


Address: 31 Xueyuan Road, Haidian District, Beijing, China

Contact number: 400 812 1121


Super 8 Hotel, Beijing Beishatan（速8酒店北京北沙滩店）


Address: 15 Zhixin West Road, Haidian District, Beijing, China

Contact number: 010-82388066


https://www.trip.com/hotels/beijing-hotel-detail-9730146

36

Foreign Experts Building（北京外国专家大厦）


Address: No.8 Huayan Beili, North 4th Ring Middle Road Chaoyang District Beijing

Contact number: 010-82858888


https://www.trip.com/hotels/beijing-hotel-detail-457242

37

Information: Post-conference Tour

The post conference tour is scheduled on August 30th, 2019. We ask participants

express their intention to join the tour no later than August 27th. The tour bus will

depart Liaoning International Hotel at 8:30am and go back to Liaoning International

Hotel arriving at 5:30pm. You need to expect entrance fee at each site where we stop

during the tour. We will keep you updated during the conference.

The followings are the tentative schedule.

07:30 Check In/ Boarding

08:00 Departure at Liaoning International Hotel for The Palace Museum

08:40 Arrive at Tian'anmen Square

09:00 Walk to the Palace Museum

11:30 Touring

11:35 Departure for Jingshan Park

12:00 Arrival and Touring

12:40 Lunch

13:40 Departure for Shichahai


15:00 Departure for Temple of Heaven


16:30 Go back to hotel

17:30 Arrival at Liaoning International Hotel

Note: The schedule may be changed depending on the traffic condition.

38

International Society on Intelligent

Unmanned Systems

The International Society of Intelligent Unmanned Systems (ISIUS) is an

international non-profit scientific organization that promotes the advancement of

technologies relevant to unmanned vehicles in underwater, ground, aerial and space

domains. The initial members of the society comprise some 400 scientists and

researchers actively working on the field of unmanned systems. The society organizes

an annual conference world-wide as a forum to discuss the science, technology and

know-how on the pertinent subjects in response to ever-increasing demands of

unmanned systems for various applications. The dissemination of original research

work representing significant advances in the design, development, testing and

operation of unmanned vehicles and systems is facilitated by the publication in the

society official journals. Presently the number of community members has been

growing to more than 3,000 members who are involved in different level of

engagement through the annual conference as well as our official technical journals.

Following the formal establishment of the society, the president, officers and the

committee were elected for the period of two years. The emeritus presidents are Pof.

Muljowidodo, Prof. Kenzo Nonami and Prof. Kwang Joon Yoon. The president is

Prof. Hoon Cheol Park. The vice president of operation is Dr. Agus Budiyono. The

vice president of conference is prof. Lung-Jieh Yang. The vice president of

international relationship is Prof. Youmin Zhang. The treasurer is Prof. Taesam Kang.

The membership chair is Prof. Sutthiphong Srigrarom. The conference coordinators

are Dr. Vishnu K Kaliappan and Patar Sitorus.

International Conference on Intelligent Unmanned Systems (ICIUS) is a

well-established annual conference organized by ISIUS, which addresses the rapidly

changing state of the art in unmanned systems (including Unmanned Aerial Vehicles

(UAVs), Unmanned Ground Vehicles (UGVs), and Unmanned Underwater Vehicles

(UUVs) etc.), robotics, automation, intelligent systems, biomimetics and provides

insights into the paths ahead for fundamental research, device development and

technology deployment around the world. The conference represents the highest

pedigree in the fields of intelligent unmanned systems, with high quality content and

international networking. This is the premier global event combining academic

excellence with industrial representations within the conference, augmented by

exhibitions and workshops planned to be held around the conference program. At this

conference, researchers, scientists, engineers and practitioners from all over the world

congregate to exchange knowledge and expertise in the development and innovative

applications of all types of unmanned systems, payload and accompanying systems.

39

University of Science and

Technology Beijing

University of Science and Technology Beijing (USTB) was founded in 1952

following the amalgamation of the best departments in related fields of six eminent

universities as a result of a nationwide reorganization of the higher education system.

Over half a century of remarkable growth, it has developed into one of the most

influential key national universities sponsored by the Chinese Ministry of Education.

USTB is renowned for its study of metallurgy and materials science. Its main focus is

on engineering; at the same time, it maintains a balanced programme of science,

management, humanities, economics and law. It was one of the first universities to be

entitled to establish state-approved graduate schools and was chosen to be part of

China's "211 Project", which is designed to develop a hundred first rate universities in

the 21st century. In 2006 it was also selected as one of a select group of pilot

universities for the "Platform for National Advanced Disciplines Innovation"

program.

USTB values greatly and will forever cherish its long tradition of being "Rigorous in

Learning and Research and Venerating Practice". Over 100,000 graduates are

contributing to society all over the world; most of them have become professionals

and joined our national elites in the field of politics, economics, science and education.

As metallurgy and materials science are the two disciplines for which it is most

renowned, USTB is also known as "the cradle of iron and steel engineers".

USTB is now working hard towards its goal of becoming one of the top-ranking

research universities in China and an internationally renowned higher education

institute with its own distinguishing features. While retaining its current leading

position in metallurgy and materials sciences, it is making great efforts to develop

other areas and to achieve a balanced disciplinary structure in engineering and

technology, science, management, economics, social sciences, humanities and law in

near future.

Vision of USTB: To become one of the top research-oriented universities in China

and an internationally renowned university.

Mission of USTB: To develop and train our students with integrity, practical ability

and innovation in engineering and other disciplines to best serve the needs of the

industry and the society.

40

School of Automation and

Electrical Engineering

In the University of Science and Technology Beijing (USTB), the School of

Automation and Electrical Engineering (SAEE) has a long and rich tradition in

higher-education and technological innovation. After more than 50 years of

development, SAEE has made rapid development in discipline construction. Now the

school has expanded its services to include intelligent transportation, intelligent

information processing, biomedical, new energy, and national defense and so on.

SAEE has a strong and experienced academic staff including 26 professors, 48

associate professors, 1 member of the IEEE Fellow, 1 member in the Subject

Consultative Group of the Degree Council of the State Department, 1 member of the

1000-Talent Plan, 1 member received the National Science Fund for Distinguished

Young Scholars, 1 member of the First Fellows of the Chinese Association for

Artificial Intelligence, 1 member received the Outstanding Youth Science Foundation,

1 member of the Young Yangtze River scholars, 2 members of the Famous Teacher of

Beijing City, 4 members recognized by the Ministry of Education New Century

Talent Program, 3 members of the Science and Technology Nova Plan of Beijing

City.

As a whole, SAEE owns 3 undergraduate programs, Automation, Measurement and

Control Technology and Instrument and Intelligent Science and Technology, 2

graduate programs (both master and PhD), Control Science and Engineering and

Instrument Science and Engineering, and a Postdoctoral Program of Control Science

and Engineering.

SAEE adheres to people-centered education. Its objects are to cultivate high-level

expert professionals in the field of automation, to improve continuously the quality of

education and to create a beautiful society and life together with students.

41

Paper ID: P0007

Laser Guided Semantic Depth Prediction System -An indoor micro UAV

navigation platform

Mark Tay1, and Sutthiphong Srigrarom2* 1University of Glasgow Singapore, Singapore 2National University of Singapore, Singapore

Abstract

3D point cloud and LIDAR have been predominantly used in GPS-denied and un-maintained environments for

various purposes including, navigation and photogrammetry. Several factors including redundant AHRS, onboard

computing, power management and cost affect the development of the overall system. In this work, we introduce

Laser Guided Semantic Depth Prediction (LGSDP) system for micro-UAVs. We test the possibility of sensor

fusion based on attitude control and vision to corroborate with deep neural networks. The network is modeled

based on open-source datasets (like NYU2 and SEGNET) and data sets taken from simulation and manual flights.

We have developed LGSDP-NET which is a fusion dataset based on indoor navigation and identification of objects

using depth prediction and semantic segmentation. We intend to conduct experiments in low-light and normal

conditions and record the findings.

Keywords: Laser Guided Semantic Depth Prediction (LGSDP), micro -UAV, depth prediction, semantic segmentation

Paper ID: P0008

An Active Fault-Tolerant Control Strategy for Autonomous Euler-Lagrange

Unmanned Systems Affected by Simultaneous Sensor and Actuator Faults

M. Abdollahi1, and K. Khorasani1*

1Department of Electrical and Computer Engineering, Concordia University, Montreal Quebec, Canada.

Abstract

In this paper, an active Fault-Tolerant Control (FTC) strategy is proposed and developed for a class of

autonomous Euler-Lagrange (EL) unmanned systems that are affected by simultaneous sensor and actuator faults.

The proposed controller is reconfigured based on an online fault estimation information that are provided by the

Sliding Mode Observers (SMOs). Unlike existing methodologies in the literature, no limiting assumptions such as

the Lipschitz conditions are imposed on the considered nonlinear system. Moreover, to evaluate the performance

and demonstrate the capabilities and advantages of our proposed control strategies a number of simulation case

studies are performed for application to an Autonomous Underwater Vehicle (AUV). The results demonstrate and

illustrate the superior performance of the controller that has utilized our proposed recovery methodology over the

one that does not utilize recovery.

Keywords: fault-tolerant control strategy, autonomous Euler-Lagrange systems, unmanned systems, simultaneous

actuator and sensor faults

42

Paper ID: P0009

Video Stabilization System Development for a Servo-driven Flapping Wing

Aerial Vehicle

Fusen Feng1,2, Kai Huang1,2, Haifeng Huang1,2, Hongxing Liu1,2, Xinxing Mu1,2, Qiang Fu1,2 and Wei He1,2*

1School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing, China 2Institute of Artificial Intelligence, University of Science and Technology Beijing, Beijing, China.

Abstract

In this paper, to reduce the complexity of the mechanical design and improve the maneuverability, we design a

full servo-driven bionic flapping wing aerial vehicle, USTBird. Focusing on practical applications, we try to

implement an object detection task as the main target of the aerial photography of the USTBird. In the process,

influenced by the USTBird’s flight mode, the vibration generated by the USTBird results in a violent jitter of the

aerial video recorded by the onboard camera. To solve this problem, we design an electronic video stabilization

system for the USTBird, combining a lightweight two degrees of freedom aerial camera with video stabilization

algorithms processed on the ground control station. Experiment results show that the electronic video stabilization

system can greatly eliminate vibration and stabilize the aerial videoimage to meet the needs of subsequent object

detection task. The object detection task is based on deep learning. The experimental research achieves an

impressive recognition accuracy on a laptop in real-time.

Keywords: flapping wing aerial vehicles, video stabilization, object detection, deep learning

Paper ID: P0010

Wing Rotation FWMAV Using Servos

Nikhil Panchal1, Saravana Kompala1, Reshmi Waikhom1, Lung-Jieh Yang1*, Wei He2 and Yuan-Lung Lo1

1Tamkang University, Taiwan 2University of Science & Technology Beijing,Beijing, China.

Abstract

This paper focus on the upgraded aerodynamic execution of FWMAV results from a cooperation of the three

particular yet intelligent components: delayed stall, wing rotation or rotational circulation and wake capture. So in

this paper, we utilize servo innovation to structure a bionic flapping wing aircraft which has two pair of servos. One

pair for flapping and another pair for wing rotation. Also, components used in the assembly of servos in the

FWMAV are designed in CAD software. Manufacturing of assembled parts are done with 3D printer and printing

material used are HIPS and ASA-PRO. Carbon fiber rods are used as fuselage in order to keep total weight less as

much as possible. Arduino micro-controller is used for control which makes FWMAV more customizable

according to the need. The lift required to keep FWMAV in the air has a strong relation with two important factors:

wing rotation and wake capture. During the testing of FWMAV, tethered flight test in the control environment are

done. Metal gear servos are used in this research for better performance and to avoid wear and tear of gears in the

servo.

Keywords: wing rotation, FWMAV, servo-MAV, 3D printing

43

Paper ID: P0011

Improvement of vertical jumping performance of Jump-flapper

Gi Heon Ha1, Hoang Vu Phan1, 2 and Hoon Cheol Park1*

1Department of Smart Vehicle Engineering, Konkuk University, Seoul, Korea 2Artificial Muscle Research Center, Konkuk University, Seoul, Korea.

Abstract

Jump-flapper is a flapping-wing assisted jumping robot inspired by locust jumping. The robot is an integration

of an inverted slider-crank mechanism for the structure of the legs, a dog-clutch mechanism for the winching

system, and a rack-pinion mechanism for the flapping-wing system. This robot with flapping wings operating at a

flapping frequency of approximately 19 Hz could jump to a height of about 0.9 m, showing about 30%

improvement in the jumping height compared to that of the robot without assistance of the flapping wings. Weight

of the original version is about 23 g. To improve jumping performance of the Jump-flapper, structure of the legs

was changed to a piston mechanism for lighter weight (19 g) and stable vertical takeoff. To create flapping wing

motion at a higher frequency of approximately 21 Hz, we used a higher capacity battery (70 mAh). A prototype of

the revised robot was fabricated and tested to evaluate the integration and performance. The robot demonstrated

improvement in the jumping height. We modeled vertical jumping behavior of the robot using an ordinary

differential equation (ODE) to predict the jumping height and takeoff speed. The measured heights showed some

difference from the predicted height shows due to rotational motion during actual jump.

Keywords: bio-inspired robot, biomimetics, locust, insect flight, vertical jumping, jumping height

Paper ID: P0012

Leader-following Cluster Consensus of Second-order Nonlinear Multi-agent Systems

via Pinning Control

Hongjian Li1, Junjie Zhao1*, Cuijuan An1 and Xianggui Guo1

1School of Automation and Electrical Engineering, University of Science and Technology Beijing

Abstract

This paper mainly studies the leader-following cluster consensus problem of second-order nonlinear multiagent

systems with directed spanning trees. Pinning control strategies are developed to guarantee that the agents in each

cluster can follow the trajectory of their own virtual leader. Based on graph theory, matrix theory and Lyapunov

stability theory, a sufficient condition based on fixed pinning gains for second-order multi-agent systems is

obtained. Finally, the simulation result is also given to prove the effectiveness and correctness of the theoretical

analysis.

Keywords: bio-inspired robot, biomimetics, locust, insect flight, vertical jumping, jumping height

44

Paper ID: P0014

Vibration boundary control of a string system with input dead-zone

Jianing Zhang1, Yonghao Ma1 and Zhijia Zhao1*

1School of Mechanical and Electrical Engineering, Guangzhou University

Abstract

In this paper, the authors are concerned with the vibration suppression of a flexible string system in the presence

of input dead-zone. For vibration abatement, a boundary control strategy based on the backstepping method is

given and the transverse displacement of the string is effectively regulated. To cope with the input dead-zone, a

radial basis function neural network is developed in control design. The stability of the string system is proved

under the proposed control laws. The established theoretical results are demonstrated by numerical simulations.

Keywords: Distributed parameter system, vibration control, neural network, input dead-zone, boundary control

Paper ID: P0015

Adaptive vibration control for a flexible string in the presence of input and output

constraints

Jianing Zhang1, Jun Shi1, Zhijia Zhao1* and Qinmin Yang2

1School of Mechanical and Electrical Engineering, Guangzhou University 2 College of Control Science and Engineering, Zhejiang University

Abstract

This paper focuses on developing a controller for a flexible string system subject to the non-symmetric input

dead-zone and system uncertainties. An adaptive neural network boundary control scheme for globally stabilizing

the string system is constructed to regulate string’s vibration, handle the input dead-zone and compensate for the

parametric uncertainties. The uniformly bounded stability of the string system is proved by employing the proposed

control. Simulation results are presented to validate the good performance of the developed control laws.

Keywords: neural network control, non-symmetric input dead-zone, adaptive control, output constraint

45

Paper ID: P0016

Establishment and legal preparation of a Hungarian UAS meteorological research

project at a military airport

Csaba Zoltán Fekete1*, Máté Gajdos1, Zsolt Bottyán1 and Mátyás Palik1

1National University of Public Service, Hungary

Abstract

In our region, the regulative framework in relation to the application of unmanned aircraft systems (UASs) is

still under development. According to Hungarian law, the only option to legally operate Unmanned Aircraft

Vehicles (UAVs) is full segregation. Meteorological measurements have been being conducted in Szolnok city

where both of the airports are in controlled airspace. Usually, domestic UAS operation is executed in special use

areas or Accidental Areas (AA). It was decided to carry out UAS operations in an Accidental Area, which is in a

Military Control Zone. Our research project which has the main goal of atmospheric measurement and

high-resolution weather prediction, should be able to run. The details were emphasized. Other research programs

become be capable of completion if they use our experience as a guideline in Hungary. Measurement and other

UAS tasks could be carried out at a military airbase in close coordination with an ATC unit and as a practical

consequence; our flight activity is one of the safest in the region.

Keywords: military airport, UAS operations, controlled airspace, UAS implementation research, atmospheric

measurement, flight safety

Paper ID: P0017

Nonlinear Model Predictive Control Based Six-DoF Precision Lunar Landing

Qingqing Dang1, Haichao Gui2* and Kun Liu1

1Sun Yat-Sen University, Guangzhou, China 2Beihang University, Beijing, China

Abstract

This paper develops a nonlinear model predictive controller (NMPC) based 6-degree-of-freedom (6-DoF)

power descent for underactuated autonomous precision lunar landing problem. The precise landing algorithm can

achieve optimal fuel guidance trajectory while satisfying multi-constraints such as line-of-sight and glide-slope

constraints. A novel feature of this formulation is the introduction of relaxation constraints, making some

constraints more reasonable and more convenient to handle in NMPC. The dynamics model of lander built on SE(3)

is discretized by Lie Group Variational Integrator (LGVI), which will be used for state prediction at each step of

NMPC. The system state equation in Euclidean space is obtained by local linearization, and the local controller is

designed to obtain the terminal penalty function and terminal set. Numerical simulations demonstrate the

effectiveness and robustness of the proposed methodology of the precision landing.

Keywords: NMPC, LGVI, multi-constraints, Lunar landing

46

Paper ID: P0018

Flapping-Wing Micro Aerial Vehicle (FW-MAV) System Modelling and Control

Study

Steven Aurecianus1, Hoang Vu Phan2, Tae Sam Kang1* and Hoon Cheol Park2

1Department of Aerospace Information Engineering, Konkuk University, South Korea 2Department of Smart Vehicle and Artificial Muscle Research Center, Konkuk University, South Korea

Abstract

Since the past few years, successful flight of flapping wing micro air vehicle (FW-MAV) has been

accomplished by various research groups with variety of FW-MAV design or model. One of them is KUBeetle

which has two vertical wings and control its attitude by modifying the wing kinematics. In this study, the KUBeetle

near hover flight model for longitudinal and lateral dynamics of KUBeetle is created, based on the experimental

and computational data. This model most likely has some differences with the real system because some dynamics

of the real system is not yet included. In real system, filters and servo have dynamics that will affect stability, such

as phase delay. Therefore, the filters and servo dynamics are modelled through experimental data. This experiment

is also used to verify the attitude estimation performance, especially the accelerometer performance during flapping.

After inserting this model, control system can be designed, such as using linear-quadratic regulator (LQR) or

proportional-derivative (PD) control. In order to verify and improve the KUBeetle model, flight test is conducted to

obtain real flight data and compared it with the model. Through these processes, better KUBeetle model is expected

to be obtained.

Keywords: flapping-wing micro aerial vehicle, filters model, servo model, FW-MAV model, system modelling

Paper ID: P0019

Towards longer flight of insect-like KUBeetle robot

Hoang Vu Phan1, Steven Aurecianus2, Jeong Ho Lee1, Taesam Kang2 and Hoon Cheol Park1*

1Department of Smart Vehicle Engineering and Artificial Muscle Research Center, Konkuk University, Seoul, Korea 2Department of Aerospace Information Engineering, Konkuk University, Seoul, Korea

Abstract

In this work, we report our recent progress on developing the tailless, hover-capable, insect-inspired

flapping-wing KUBeetle robot for a long endurance flight. A simple control mechanism integrated lightweight

actuators was designed to effectively stabilize and control attitudes of the robot. With a custom-built onboard

electronics, the KUBeetle weighing 19 g could successfully demonstrate controlled flight for about 2.5 minutes

while carrying a payload of 2.5 g. In addition, the robot can also perform stable flights both indoor and outdoor,

demonstrating its possibility for real applications.

Keywords: flapping-wing micro air vehicle, hovering, insect flight, biomimetics

47

Paper ID: P0020

Combined Direct and Indirect Adaptive Control for Spacecraft Attitude Tracking

Wenjie Su1, Haichao Gui1*

1School of Astronautics, Beihang University, Beijing, China

Abstract

A new adaptive control law combined direct and indirect adaptive control methods is proposed to achieve

attitude tracking asymptotically in the presence of constant unknown inertias. Direct adaptive control technique is

used to maintain global convergence of the attitude tracking error. Besides, a least-squares estimator with bounded

gain forgetting is integrated to estimate inertia parameters from prediction error. The global asymptotic

convergence of attitude tracking error is proven by means of Lyapunov analysis. In particular, the closed-loop

attitude tracking system is exponentially stable when the reference trajectory satisfies persistent excitation.

Numerical simulations verify the effectiveness of the proposed method and show that it achieves faster

convergence speed and better robustness than direct adaptive control technology in both the attitude tracking error

and parameter estimate error than direct adaptive control.

Keywords: composite adaptive control, attitude tracking, global stability, inertia identification

Paper ID: P0021

Design of a Wing Rotation Mechanism for a FWMAV

Saravana Kompala1, Nikhil Panchal1, Lung-Jieh Yang1*, Balasubramanian Esakki2 and Sarasu

Packiriswamy2

1Tamkang University, Taiwan 2Vel Tech Rangarajan Dr. Sagunthala R&D Institute of Science and Technology, India

Abstract

Former studies on flapping-wing micro air vehicle (FWMAV) had just focused on the flapping motion,

therefore lost the good aerodynamic capability. Many birds are characterized by rapid wing rotation during the

downstroke-to-upstroke transition. Due to the benefits of wing rotation, flapping MAV can generate a higher lift

and also provides more maneuverability. This paper presents one new mechanism of flapping MAV which can

bring out 2 motions such as flapping along with the rotation, so has movement as the bird. For the mechanism, we

utilize the combination of servo motors and the bevel gears, in which a pair of servo motors for flapping and the

pair of bevel gears for rotation. The rotational motion of the bevel gears purely depends on the flapping angle made

by the servo motors and the number of teeth of bevel gears. Which means that the rotational angle can be controlled

by controlling the number of teeth of bevel gears and the flapping angle. The CAD software is used for the design

of the mechanism followed by printing the bevel gears and other required parts using 3D printing technology to

structure the mechanism.

Keywords: flapping wing micro air vehicle, bevel gear, servo motor, wing rotation, 3D printing

48

Paper ID: P0023

Two-dimensional Aerodynamic Characteristics of Corrugated Wings

Thanh Tien Dao1, Thi Kim Loan Au1, Soo Hyung Park1, Hoang Vu Phan1 and Hoon Cheol Park1*

1Konkuk University, Seoul, Korea

Abstract

It is known that wing corrugation has no effect on aerodynamic performance at a low Reynolds number (about

1,000), and significant effect at a high Reynolds number (greater than or equal to 10,000). This paper describes

aerodynamic performance of a flat plate, a camber wing, a corrugated wing, and a corrugated wing in which the

center line is a curved line (zigzag curve) at Reynolds number of 1,000 and 10,000 by using two-dimensional

transient computational fluid dynamic in ANSYS-Fluent. Thicknesses of all profiles are 1% of their chord length

(t=c/100), curvature of the camber wing and zigzag curve are 9%, and range of angle of attack is from 0o to 30o.

For a Reynolds number of 1,000, the corrugated wing showed higher lift coefficients (CL), lift-to-drag ratios

(CL/CD) than the flat plate. In curved form, the corrugated wing (zigzag curve) showed higher CL and CD, slightly

higher CL/CD at an angle of attack of 150, 200, 25o, than the curved plate. However, at angles of attack of 0o and

10o, the curved plate showed higher CL/CD. From these results, it was found that the aerodynamic performance of

the zigzag wing and zigzag curve is similar to that of flat plate and curved plate except at an angle of attack of 250

in case of zigzag wing and flat plate. For Reynolds number of 10,000, the corrugated wing on curved forms shows

a slightly higher lift coefficient, however, it also shows significantly higher drag coefficient at low angles of attack.

Since the aerodynamically equivalent corrugated wing has a higher bending stiffness, the corrugated wing can be

used for making small bio-inspired flying robots. We are now looking for a corrugated wing that can outperform

the flat plate at a Reynolds number of 10,000.

Keywords: corrugated wing, flat plate, low Reynolds number, lift coefficient, drag coefficient

Paper ID: P0026

Fixed-Time Stabilization for a Class of Uncertain Nonlinear Systems

Chih-Chiang Chen1*, Chi-Hsuan Ding1 and Guan-Shiun Chen1

1Department of Systems and Naval Mechatronic Engineering, National Cheng Kung University, Tainan, Taiwan

Abstract

This paper investigates the problem of fixed-time stabilization for a class of multivariable uncertain nonlinear

systems. A new approach is proposed by skillfully revamping the technique of adding a power integrator whereby a

state feedback controller and a suitable Lyapunov function for verifying fixed-time convergence can be explicitly

constructed to render the closed-loop system fixed-time stable. The novelty of this paper owes to the development

of a subtle strategy that provides a new solution to the problem of fixed-time stabilization for multivariable

nonlinear systems. Finally, the developed approach is applied to the attitude stabilization of a spacecraft to show

the effectiveness of the resultant controller.

Keywords: Uncertain nonlinear systems, adding a power integrator technique, fixed-time stabilization

49

Paper ID: P0027

Two-DOF Manipulator Joint Rotation Control Driven by Electrohydraulic Actuator

Qing Guo1, 2*, Xiaochai Li1 and Fan Guo1

1School of Aeronautics and Astronautics, University of Electronic Science and Technology of China, Chengdu, China 2Aircraft swarm intelligent sensing and cooperative control Key Laboratory of Sichuan Province

Abstract

In this study, a Two-DOF manipulator motion control system is investigated to verify the driving control

scheme of the electro-hydraulic servo actuator. This manipulator is imitated like the Bigdog’s limb, which has two

typical ration degree-of-freedoms. Since the electro-hydraulic actuator is currently widely used in mechatronic

control engineering as it has a superior load efficiency, the manipulator can be improve the joint control accuracy

and dynamic response under large external load disturbance and parametric uncertainty. The power of manipulator

is supplied by a small pump station, which can regulate the pressure supply with respect to different external load

magnitudes. The servo valve is the flow control element, which can throttle the flow by the spool position

regulation in the flow control loop of electro-hydraulic system. The hydraulic cylinder is connected to two hinge

points, which transforms the joint ration into the cylinder movement. Due to the favorable anti-disturbance

capability of the hydraulic cylinder motion with time-varying load, the dynamic tracking performance and the

steady state control accuracy of the cylinder position are achieved by the proposed robust PI control algorithm. The

simulation and experimental results indicate the effectiveness of the new electro-hydraulic servo driving scheme

used in the joint rotation control Two-DOF manipulator.

Keywords: manipulator, joint rotation control, electrohydraulic actuator, gain-scheduling control

Paper ID: P0028

Attitude and Position-Oriented Active Disturbance Rejection Control for Drag-Free

Satellites

Fei Yang1*

1University of Science and Technology Beijing, Beijing, China

Abstract

The joint control of the drag-free satellite body attitude, the relative displacement between the satellite body and

the test mass, and the relative attitude between the satellite body and the test mass is affected by external

disturbance, input noise, measurement noise, input coupling and state coupling, etc. The design of controller is

facing challenges. In this paper, the active disturbance rejection control (ADRC) strategy is used. Firstly, the

extended state based Kalman Filter (ESKF) algorithm is used to estimate the extended state under noise pollution.

Then, when designing the controller, not only the external disturbance is compensated, but also the coupling

relationship between the system states is regarded as the internal disturbance and compensated, so that the control

system is equivalent to the “integral series system”. On this basis, the dragfree satellite joint control with 18

degrees of freedom is realized. The simulation experiment achieved good control results.

Keywords: Drag-Free Satellite, Active Disturbance Rejection Control, ESKF

50

Paper ID: P0030

Boundary Output Feedback Control of a Flexible Manipulator System with

High-gain Observers

Rui Liu1*, Shuang Zhang1*, Xinyu Qian1 and Guang Li2*

1University of Science and Technology Beijing, Beijing, China. 2Department of Engineering and Material Science, Queen Mary University of London, London, U.K.

Abstract

This paper focuses on boundary output feedback control for a flexible manipulator system. A boundary output

feedback control is proposed to suppress elastic vibration and regulate manipulators angular position. Three

high-gain observers are designed to reproduce the immeasurable system states. The stability of the flexible

manipulator system is obtained through mathematical analysis. Furthermore, the effectiveness of the proposed

controller is proved by numerical simulations.

Keywords: flexible manipulator, boundary control, output feedback control, high-gain observer

Paper ID: P0046

Human-Robot Object Handover

Jiashu Li1, Zichen Yan1, Wei He1*, and Okyay Kaynak1

1University of Science and Technology Beijing, Beijing, China.

Abstract

Object handover is one of the most basic tasks in the field of human-robot cooperation. In this paper, a strategy

is proposed for relative big objects bidirectional handover using two arms in the vertical posture. The safety and

efficiency of the handover are ensured by utilizing multisensory cues. The bidirectional handover system is well

designed based on the robot state during the handover task. By applying dual arm motion control and the grip force

control, the robot has an ability to finish the handover task practically with a human.

Keywords: Bidirectional Object Handover, Multisensory Cues, Baxter Robot

51

Paper ID: P0048

Micro-Molding Fabrication and Aerodynamic Analysis of Corrugated Flapping

Wings

Niroj Kapri1*, Saravana Kompala1* and Lung-Jieh Yang1*

1Tamkang University, Taiwan

Abstract

Dragonfly wing has the corrugated topological features gives them excellent stability and high load-bearing

capacity during flapping and hovering. As dragonfly wing mainly composed of corrugated structure with veins and

flexible membrane, fibrous composite material and this sophisticated design combines with corrugated pattern

gives the dragonfly supreme versatility and maneuverable flying. It is believed that the unique corrugated structure

on dragonfly wing enhances the aerodynamic performance. In this paper, we use the innovative fabrication process

using micro- molding methodology to fabricate the 20 cm flapping wing which is composed of the corrugated wing

inspired by the dragonfly wing. The mold is made with the combination of 3D printer and PDMS where PDMS

serves as the final molding material. Parylene-C was selected was the wing material as it mechanical properties

comparable to real insect wing. The thickness of the wing was selected as 40µm. The wing was being installed on

two types of configuration first is two wings. Another is four wings and compared with the same shape, size and

thickness flat wing. The lift signal was measured by a load cell from the wind tunnel. The tests show that the lift

coefficient of the corrugated wing is higher compared to a flat wing where the improvement lift coefficient in the

case of mono wing shown significant improvement compare to the bi-wing configuration. The dynamic

characterization is done by using high-speed photography and wind tunnel testing.

Keywords: Dragonfly, Micro Aerial Vehicle (MAV), Micro-molding, Corrugation, Parylene-C

Paper ID: P0049

Multi-agent Formation Control Based on Voronoi Partition

Jinwen Hu1*, Man Wang1, and Chunhui Zhao1

1Northwerstern Polytechnical University, Chengdu, China

Abstract

This paper deals with the formation control problem of multiple unmanned aerial vehicles (UAVs) with

collision avoidance. A distributed formation control and collision avoidance method is proposed based on Voronoi

partition and conventional artificial potential field. The collision avoidance is achieved by partitioning the whole

space into non-overlapping regions based on Voronoi partition theory, which is taken as the task region to confine

the movement of each UAV. The general motion control law is designed based on the conventional artificial

potential field. As this often leads to local optimum when two UAVs are going to collide with each other and they

may stay still where the repulsive force is adversely equivalent to the attractive force. To address this problem, the

destination switch scheme is further proposed to let UAVs switch destinations when they reach the local

equilibrium. Finally, the effectiveness of proposed formation control algorithm is validated by simulations.

Keywords: unmanned aerial vehicles, formation control, Voronoi partition, artificial potential field

52

Paper ID: P0051

Multiple Sensors Fault Diagnosis for Aero-Engine Based on Kalman Filter

Zhen Zhao1*, Jun Zhang2

1College of Electrical Information & Automation, Civil Aviation University of China 2College of Aerospace Engineering, Civil Aviation University of China

Abstract

In this paper, problem of multiple sensors' faults detection and diagnosis is studied for the aero-engine. Based

on the health degradation model of an aero-engine, a Kalman filter-based method is constructed to estimate the

output values of the sensors in future time. According to the estimation results, a window-based mean residual

index is proposed to increase the diagnosis precision. Experimental results illustrate that the proposed Kalman

filter-based multiple sensors fault diagnosis method is feasible and effective for aero-engines.

Keywords: multiple sensors fault diagnosis, aero-engine, Kalman filter

Paper ID: P0052

Effect of corrugation on aerodynamics performance of three-dimensional flapping

wings

Loan Thi Kim Au1*, Soo Hyung Park1, Hoang Vu Phan1 and Hoon Cheol Park1*

1Konkuk University, Seoul, Korea

Abstract

The effect of corrugation implemented in camber wings on the aerodynamic performance of three-dimensional

flapping-wings was studied. The same wing kinematics at hovering of KU-Beetle, a tailless flapping-wing micro

air vehicle was employed for all wing profiles. The forces and flow structures were obtained using the

computational fluid dynamics method via commercial software of ANSYS Fluent. Different corrugation heights

from 0 (non-corrugation) to 6% of local chord length were considered. For each corrugation height, the effect of

corrugation near leading and trailing edges were also investigated. For "Z" group in which the corrugation occurred

on all chord, in downstroke, the lift and drag increased compared to non-corrugation profile. However, during

upstroke when the wings changed revolving direction, the corrugation profiles reversed upside down, causing

reduction in lift and drag. Meanwhile, for "F" group in which 20% chord length near the leading- and trailing-edges

were non-corrugated, forces decreased in both down- and up-strokes. However, the differences from the

non-corrugated profile were smaller than those in case of the "Z" group. As a result, in all cases, over one flapping

cycle, there was no enhancement in forces generated by corrugated profiles. In term of aerodynamic efficiency, the

lift-to-drag ratios decreased in both downstroke and upstroke. Because the aerodynamic performance of the "F"

group was closer to the non-corrugation profile and was better than the "Z" group, the "F" group was preferred for

design and manufacture of corrugation wing for FW-MAV.

Keywords: flapping wings, corrugation, aerodynamic performance, CFD

53

Paper ID: P0053

A 3D Obstacles Detection Method Combining Lidar and Camera Data

Chunhui Zhao1, Ce Wang1*, Boyin Zheng1 and Jinwen Hu1

1Key Laboratory of Information Fusion, Ministry of Education, School of Automation, Northwestern Polytechnical

University, Chengdu, China

Abstract

A 3D obstacle detection method based on lidar and camera fusion was studied for the safety and autonomy of

unmanned ground vehicles. Traditional 3D object detection methods usually rely on a single sensor, such as

directly segmenting an object on point cloud or image. We present a method combining lidar and camera by

projecting the lidar points onto the camera and fusing the image information of the neighborhood, then a

high-resolution depth map is formed based on the accelerated high-dimensional filtering method. By detecting

obstacles on the depth map instead of directly acting on the point cloud, the speed of obstacle clustering is

increased. And the detection accuracy is improved due to the improvement of the resolution. We validate our

results on the kitti dataset, showing the adaptability of our approach.

Keywords: sensor fusion, obstacle detection, bilateral filter, unmanned ground vehicles

Paper ID: P0054

Bipartite State Tracking of Heterogeneous Systems on Signed Digraphs Using

Reinforcement Learning

Lina Xia1, Qing Li1 and Ruizhuo Song1*


Abstract

The paper proposes the bipartite state synchro-nization problem for heterogeneous multi-agent systems (MAS)

on signed digraphs. Bipartite state synchronization means that some followers synchronize with the leader in the

same direction, while others synchronize with the leader in the opposite direction. The MAS are heterogeneous,

that is, the dynamics of the agents are different. First, observers are designed to estimate the leader’s state. Then, it

is emonstrated that the bipartite synchronization problem can be transformed into a regular synchronization

problem. Moreover, the alge-braic Riccati equation (ARE) can be obtained by solving this synchronization problem.

A data-based reinforcement learning (RL) algorithm is proposed to solve the ARE equation without requiring the

dynamics of agents. Finally, a simulation example shows the validity of algorithm.

Keywords: bipartite synchronization, signed digraphs, heterogeneous MAS, ARE, data-based reinforcement learning.

54

Paper ID: P0055

Development of VTOL with Movable Legs

Masafumi Miwa1*, Sho Goto1

1Tokushima University, Seoul, Korea

Abstract

In this study, we propose a new VTOL aircraft that performs vertical take-off and landing, and hovering with

movable legs with built-in propulsion devices, and it directs the thrust to the rear by pointing the movable legs to

the rear for horizontal flight. The legs were adopted to be used as landing gear for landing on rough terrain. First of

all, we manufactured a test aircraft called FLFO (Fixed Legs Flying Object) with fixed landing legs with ducted

fans and deflection plates as two-dimensional deflection nozzle. Stable take-off hovering, and landing were

realized.

Next, we developed second generation test aircraft called MLFO (Movable Legs Flying Object) with Movable

landing legs with ducted fans and two-dimensional deflection nozzle. Two movable ducted fan legs are mounted on

the center of the fuselage. With this experimental machine, hovering, transition flight to 30 degrees of leg tilt angle,

and transition flight to 60 degrees of leg tilt angle were performed. In transition flight, airspeed increases with the

tilt angle of legs, MLMO hovered well, and was moving to level flight as the speed increased.

Keywords: thrust vectoring, two-dimensional deflection nozzle, transition to horizontal flight, VTOL, unmanned air

vehicles

Paper ID: P0056

Design of a server-less distributed UTM system

Yuichi Yaguchi1*, Yuta Sakaguchi1 and Kyota Tamagawa1

1University of Aizu, Japan

Abstract

In this paper, we describe the design of a server-less distributed unmanned aerial vehicle traffic management

(UTM) system and introduce two prototype subsystems with a wireless telemetry system. In the case of a disaster

or developed country, it is difficult to manage the center server. Consequently, we propose a server-less distributed

UTM system and show that it is not inferior to center-server-type UTM systems. First, we illustrate the blockchain

flight reservation system using Hyperledger Fabric and evaluate its performance emulated based on Raspberry Pi 3

specification. Then, we introduce a collision avoidance waypoint auto-setting technique with random priority. This

random priority determines whether to use the broadcast telemetry system with ALOHA or Slotted ALOHA. From

these two subsystems, we can construct server-less distributed UTM systems.

Keywords: distributed UTM, blockchain, Sense and Avoid, artificial potential method, LoRa

55

Paper ID: P0057

Actuator Fault Detection for Autonomous Ground Vehicles

Wenwen Song1, Qing Li1, Heng Wang1*, Zhuoer Xue1 and Zheng Cai1

1University of Science and Technology Beijing, Beijing, China.

Abstract

This paper is concerned with the fault detection problem for autonomous vehicles in the presence of loss-of-

effectiveness actuator faults. A novel kinematical vehicle model with actuator faults is proposed, an adaptive

observer is designed such that the efficiency coefficient of loss-of-effectiveness actuator faults is effectively

estimated online. Finally, simulation results verify the method proposed in this paper.

Keywords: Actuator fault detection, autonomous ground vehicles, adaptive observer.

Paper ID: P0058

A mesoscale meteorological observation system using a drone fleet

Yuichi Yaguchi1*, Masayuki Itaha2, Shuzo Nakano3, Kazuhiko Ymaagishi4,

Tatsuya Iyobe5 and Akira Sasaki6

1University of Aizu 2Japan Environment Research Co.

3East-Japan Accounting Center Inc. 4 E-Robotics Fukushima Co.

5 Iyobe Shoji Co. 6 GClue. Inc.

Abstract

We report on the study of using 27 drones to do the same work in one place at the same time based on the

“mesoscale meteorological measurement by 27 unit drone fleets” project for promoting business provincial

reconstruction practical development on the Fukushima Innovation Coast. In this fiscal year's verification at the

Fukushima Robot Test Field, we verified whether 3 x 3 x 3 matrix flight is possible at altitudes of 40 m, 70 m, and

100 m. As a result, while occasionally there was a drone descending because of the turbulence of the airflow, we

were able to hover at a fixed point while maintaining a sufficiently safe airspace.

Keywords: coefficient diagram method, robust control, Kharitonov polynomials, unmanned underwater vehicles.

56

Paper ID: P0059

Reconfigurable Control Design with Consideration of Performance Degradation via

Flight Envelope Analysis

Xiang Yu1*, Xiaobin Zhou2, Youmin Zhang2 and Lei Guo1

1School of Automation Science and Electrical Engineering, Beihang University, Beijing, China 2Department of Mechanical, Industrial and Aerospace Engineering, Concordia University，Canada

Abstract

This paper presents a reconfigurable fault tolerant control strategy with integration of graceful performance

degradation, where a new feasible command signal is applied via the aerodynamic analysis of the faulty aircraft.

Specifically, based on the estimation of aircraft maneuverability in the presence of actuator malfunctions, the

changed boundaries of the safe flight envelope can be obtained. Thus, a new reference command is generated to

guarantee the system states and control inputs within the admissible domain. Moreover, a reconfigurable controller

is designed based on the eigenstructure assignment method, where both system stability and an acceptable level of

output tracking can be achieved. The proposed approach is manifested using the longitudinal aircraft model, while

very encouraging results have been obtained.

Keywords: reconfigurable fault-tolerant controller, flight envelope analysis, performance degradation

Paper ID: P0061

Hyperspectral Classification with Spatially Weighted Dictionary Learning

Guangyi Wang1,Youmin Zhang2*, Honggang Yu3 and Hamid Maqsood2

1Northwestern Polytechnical University, Xi'an, China 2Concordia University, Montreal, Canada

3Xi'an University of Technology, Xi'an, China

Abstract

This paper presents a novel spatial weighted dictionary learning classification framework based on the online

update mechanism. With the idea of dictionary learning, the spatially weighted sparse representation is realized by

incorporating adaptive spatial semantic information during the sparse coding, and the optimal dictionary set is

learned in real time from the whole hyperspectral image using the online dictionary learning. Then, with the

obtained optimal dictionary set, the sparse coding features of remote sensing image are introduced to the ν-support

vector classifier with the obtained optimal dictionary set. Based on the classification model learned on the labeled

training samples, the test pixels are recognized. In the end, two hyperspectral images are used to evaluate the

metrics of the proposed algorithm. The simulation results strongly reveal the main contribution of this work that a

spatial-spectral feature grounded on the sparse representation can effectively identify the various facets of ground

cover.

Keywords: Hyperspectral image, spatial-spectral feature, sparse representation, dictionary learning

57

Paper ID: P0062

Design and simulation of a hydrocarbon inspired reconfigurable modular track

robots (RMTR)

Xing Li1, Jinguo Liu2*, Zhaojie Ju3 and Chenguang Yang4

1University of Chinese Academy of Sciences, Beijing, China 2Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China

3School of Creative Technologies, University of Portsmouth, Portsmouth, United Kingdom 4Zienkiewicz Centre for Computational Engineering, Swansea University, Swansea, United Kingdom

Abstract

With the increasing demands for versatile unmanned platforms capable of performing a variety of tasks in diverse

and uncertain terrains, the needs for reconfigurable modular track robots (RMTR) have been on the rise. This work is

focused on the configuration enumerating, configuration shifting, and multi-mode moving of RMTR. The structure

design of the modular self-reconfigurable track robot is depicted in detail, including the design methodology, mechanical

description, and control architecture. We designed two types of RMTR modules with self-connecting interfaces, each

module containing an independent control and power system. Through different connection schemes, RMTR can be

reassembled into different configurations like swarm robots or one single robot. The multi-configuration enables

multi-mode mobility of RMTR. The configuration shifting and multi-mode movement of RMTR are achieved through

simulation.

Keywords: self-reconfigurable modular track robot, mechanical design, multi-mode walking, swarm robots, kinematic

simulation

Paper ID: P0063

A distributed hardware-in-loop (HIL) simulation platform for multi-UAV systems

Qiuyang Tian1, Chen Lin1, Bo Zhu2* and Chen Peng1

1University of Electronic Science and Technology of China, Chengdu, China 2The School of Aeronautics and Astronautics, Sun Yat-Sen University, Guangzhou China

Abstract

There is an obvious gap between the theoretical performance analysis and practical applications of distributed task

allocation algorithms for multi-UAV systems. To fill the gap, we design and develop a low-cost hardware-in-loop (HIL)

simulation platform to assist the closed-loop verification and validation activities of various task allocation strategies.

Two layers are included in the platform and a four-UAV system is considered as an illustrative example. To support the

real-time computation of flight control laws and distributed task allocation algorithms, the top layer adopts four

homogenous DSP chips that are widely used in industrial applications. The bottom layer includes a server to simulate the

kinematics and dynamics model of all the involved UAVs. For simplicity and reliability, the information exchange

between the two layers is achieved by standard wired serial communication. Each of the four DSP chips is integrated

with a wireless communication module to achieve information exchange between neighboring UAVs. Based on the

collected experimental data, we analyze and evaluate the real-time communication and computation capability of the

system. In addition, we consider the scenario consisting of four UAVs and six targets, the distributed auction algorithm is

implemented and verified on the platform. The comprehensive performance and time cost of the algorithm is

demonstrated.

Keywords: multi-UAV systems, task allocation, hardware-in-loop simulation, distributed auction algorithm

58

Paper ID: P0064

CNN based autonomous navigation and vehicle detection on UAV platform

Yuxin Mao1, Deqing Huang1* and Dai Xi1

1Institute of Systems Science and Technology, Southwest Jiaotong University, Chengdu, China

Abstract

Vehicle detection based on an unmanned aerial vehicle (UAV) platform is part of the important applications in

intelligent transportation systems. For the purpose of good performance of UAV in unstructured and highly

dynamic city traffic scenarios, this paper draws on the idea of self-driving, presents an advanced data-driven

end-to-end learning solution for UAV navigation and moving vehicles detection based on deep convolutional neural

network model (CNN).

Through the analysis, we propose a CNN architecture that is capable of predicting steering angle of flying, as

well as the number of vehicles and their location by a single image input. Due to the high dynamics of traffic

scenarios, for improving detection accuracy, achieving real-time navigation and detection, we choose YOLOv3 as

our detection framework. What’s more, the backbone algorithm of YOLOv3 has replaced from DarkNet to

DenseNet, which rides the detection task more efficient.

The experimental results of steering angle prediction and vehicle detection on the Udacity self-driving steering

angle dataset and object detection dataset demonstrated that the mean Average Precision (mAP) could reach 59.5%

with a higher Fps, and mean square error could reach 0.742, which is competitive with state-of-the-art methods.

Keywords: coefficient diagram method, robust control, Kharitonov polynomials, unmanned underwater vehicles

Paper ID: P0065

Vibration control for a flexible aerial refueling hose under input magnitude and rate

constraints

Zhijie Liu1, Guang Li2

1University of Science and Technology Beijing, Beijing, China 2Queen Mary University of London, London, United Kingdom

Abstract

Abstract—In this paper, boundary control scheme is designed for a flexible aerial refueling hose subject to

external disturbances, control input magnitude and its rate constraints. Dynamics model of the flexible hose system

is depicted by partial differential equations (PDEs). Based on the PDEs model, a boundary control law is proposed

to regulate the flexible hose’s vibration. Backstepping method is utilized to design the control scheme, where the

smooth hyperbolic tangent function is used to deal with the problem of input magnitude and rate constraints. The

stability of the closed-loop system is proved by the Lyapunov’s direct method. Finally, the simulation results are

demonstrated for control performance verification.

Keywords: Boundary control, input magnitude and rate constraints, distributed parameter system, flexible hose

59

Paper ID: P0067

WiFi based Wireless Non-Contact Heart Rate Detection

Kai Song1, Ziqiu Zhao1, Zhenyue Gao1 and Wengdong Xiao1*


Abstract

In recent year, the demand for long-term human health monitoring is increasing. Traditional wearable devices

are inconvenient to wear for a long time.

This paper proposes a novel wireless non-contact heart rate detection approach by making use of the WiFi CSI.

The original signal is obtained by reasonable selection of WiFi CSI subcarriers, and the signal is decomposed and

denoised by wavelet transform. The sparse spectrum reconstruction (SSR) is applied to increase the signal sparsity

using the adaptive filter with LMS with zero attractor.Then the heart rate components are extracted from the WiFi

CSI spectrum, and finally the human heart rate is calculated through a reasonable peak query algorithm.

The performance of the proposed approach is compared with thecontactable commercial heart rate band.

Experimental results demonstrates that the average absolute error percentage of human heart rate is only 3%, which

shows that the proposed approach can achieve good detection performance.

Keywords: non-contact heartrate detection, WiFi CSI, wavelet transform, least mean square algorithm

Paper ID: P0068

Development of Diving Tilt Rotor UAV

Yuto Takigawa1*, Masafumi Miwa1

1School of Advanced Technology and Science, Tokushima university, Tokushima, Japan

Abstract

In this study, we aim to develop the underwater multirotor helicopter that prevents accidents when checking

dam cracks, and investigated the performance of diving maneuver. In this paper, we conducted experiments on

underwater maneuvering and take-off from water in pools and rivers using uniaxial tilt rotor UAV.

In the future, we will improve attitude control programs considered complex waves in the water to stabilize the

aircraft when it is stationary and horizontally moving. We will also consider the use of cameras mounted on the

aircraft, radio waves with long wavelengths, ultrasonic communication, laser communication and communication

relay buoys.

Keywords: Tilt-Rotor, Quad-Copter, UAV, Diving

60

Paper ID: P0069

Prescribed Performance Backstepping Adaptive Controller Design for a Class of

Nonlinear Systems

Dexin Fan1, Ailiang Xin1 Yongliang Yang1*, and Yixin Yin1


Abstract

We consider the tracking problem of nonlinear systems with dead-zone for the control input. Novel adaptive

controller design is proposed, which can guarantee a user-defined performance. To consider the dead zone

dynamics, the nonlinear dead zone is first represented as a linear time-varying system with a bounded disturbance.

The prescribed performance function is developed to improve the error transient response. Then, a backstepping

control is put forward for controller design. Moreover, neural networks and the Nussbaum-type function are used to

deal with the unknown functions in the controller. Finally, simulations are performed to clarify and verify the

approach.

Keywords: prescribed performance, backstepping adaptive control, nonlinear systems, dead-zone input

Paper ID: P0070

Aerodynamic Characteristics of Half-Rotating Wing in Hovering Flight

Qian Li1, Jiwei Yuan1, Xiaoyi Wang2 and Aihong Ji1*

1Institute of Bio-inspired Structure and Surface Engineering, Nanjing University of Aeronautics and Astronautics,

Nanjing, China 2School of Mechanical Engineering, Anhui University of Technology, Anhui, China

Abstract

Half-rotating wing (HRW) is a new quasi-flapping wing system based on half-rotating mechanism which could

perform rotating-type flapping instead of oscillating-type flapping. The driving mechanism and work process of

HRW were firstly introduced in this paper. The lift models of HRW in hovering flight was further proposed based

on the analysis of the motion model of HRW and the flow characteristics on the surface of the wing. According to

the motion characteristics of HRW, the analytical expressions of lift were further derived. Moreover, the design

scheme of lift testing device and lift computational model were then given to explore the aerodynamic

characteristics of HRW in hovering flight. The aerodynamic experiment was performed by different wing layout

and wing material. It indicated that the flow field generated by the motion of the wing arranged symmetrically on

both sides of the body would interfere with each other, by which the average lift coefficient of the double-wing

HRW was less than that of the single-wing HRW. On the other hand, the average lift coefficient of flexible wing

was larger than that of the rigid wing. In addition, the average lift of the flexible wing would go up with the

increasing of slackness when it was within the appropriate range. Furthermore, the lifts in different flight conditions

were calculated using derived formula and numerical simulation respectively with same HRW prototype parameters,

by which the rule of HRW lift variation in hovering flight could be got. The comparison of lift curves between the

theoretical calculation and the numerical simulation demonstrated that the analytical method to estimate lift of

HRW was effective and feasible.

Keywords: Half-Rotating Wing, hovering flight, lift estimation, aerodynamic experiment

61

Paper ID: P0071

Formation Control of Quadrotors with Maintaining Connectivity and Avoiding

Collision

Zhaoyang Liu1, Chaoxu Mu1* Shunshan Tan2, Youyi Zhou1 and Hao Luo1

1Tianjin University, Tianjin, China 2 Beijing Institute of Control Engineering, Beijing, China

Abstract

In this paper, the formation tracking control of quadrotor unmanned aerial vehicles (UAVs) is

considered. An improved weighted undirected graph is introduced to ensure connectivity, and an artificial

potential field is also applied to avoid collision. Quaternions are used to describe the attitudes of

quadrotors, and an intermediate control input is involved to solve the underactuated problem and extract

the desired orientations. The global stability of closed-loop system is proved via Lyapunov theory. Finally,

the corresponding simulation results are presented to illustrate the effectiveness of proposed control

scheme.

Keywords: quadrotors, weighted undirected graph, artificial potential field, quaternions

Paper ID: P0072

Dynamic Event-Triggered H∞ Control of Switched Linear System

Youyi Zhou1, Chaoxu Mu1* Hongchao Li2, Zhaoyang Liu1 and Hao Luo1

1Tianjin University, Tianjin, China 2Hebei University of Technology, Tianjin, China

Abstract

This paper studies the problem of dynamic event-triggered H∞ control for switched linear system with

exogenous disturbances. The main purpose is to design H∞ controller together with a switching rule assuring global

asymptotic stability of the closed-loop systems. With the proposed dynamic event-triggered schemes, the control

task is carried out only when the trigger condition is met. By adopting the average dwell method, aset of sufficient

conditions for H∞ performance analysis are developed. Finally, a numerical example is given to illustrate the

effectiveness and validity of our main results.

Keywords: dynamic event-triggered scheme, H∞ control, switched linear system, average dwell time

62

Paper ID: P0073

Predefined containment control for second-order multi-agent systems with

time-varying delays and switching topologies

Shiyu Zhou1*, Yongzhao Hua2, Xiwang Dong2 Qingdong Li2 Zhang Ren2 and Jinwen Hu1

1The School of Automation , Northwestern Polytechnical University, Xi'an, China 2The School of Automation Science and Electrical Engineering, Beihang University, Beijing, China

Abstract

Containment control problems for second-order multi-agent systems with switching interaction

topologies and time-varying delays are studied. Firstly, an edge-based state observer is presented for each

follower to estimate the whole states of all the leaders under the influences of switching interaction

topologies and time-varying delays. Then, a predefined state containment protocol is presented for each

follower by using the estimation states of the leaders, where the expected convex combination of the

multiple leaders is specified by several given weights. Therefore, the desired targets of the followers’

states do not rely on the topology. An algorithm with two steps is presented to design the proposed

containment control protocol. Based on linear matrix inequality technique and common Lyapunove–

Krasovskii stability theory, the convergence of the proposed state observer and the control protocol for

second-order multi-agent systems with switching topologies and time-varying delays to achieve state

containment are proved. Finally, a simulation example is given to validate the theoretical results.

Keywords: Containment control, second-order multi-agent systems, time-varying delays, switching topologies

Paper ID: P0074

Mini quadrotor design for real-time data acquisition

Jeong-Hwan Kim1, Seong Lok Nam1, Aurecianus Steven1, Jungkeun Park1 and Taesam Kang1*

1 Konkuk University, Seoul, South Korea

Abstract

We designed a mini quadrotor for real-time data acquisition. The microcontroller upgraded from

Atmega328p to STM32 Cortex-M4. And a raspberry pi computer was added for data broadcasting and

mission controller. It is designed to use the ROS (Robot Operating System) to collecting real-time data,

showing attitude of mini quadrotor or doing a mission.

Keywords: Quadrotor, real-time data acquisition, raspberry pi, ROS

63

Paper ID: P0075

Boundary Leader-enabled Multi-robot Cooperative Dynamic Pollutant Plume

Monitoring

Junwei Wang1*, Yi Guo2

1University of Science and Technology Beijing, Beijing, China 2Stevens Institute of Technology, Hoboken, United States

Abstract

This paper deals with multi-robot cooperative planar dynamic pollutant plume monitoring problem under the

leader-following communication strategy. The main objective of this paper is to construct boundary leader-enabled

cooperative control laws for a group of robots such that the group of robots tracks the expansion of the plume front

of the dynamic pollutant propagation and simultaneously forms an even distribution on this plume front. To do that,

two robots are assigned as boundary leaders and the other ones are assigned as followers. By local averaged

concentration measurements from the sensors equipped on the robots, distributed-consensus-observer-based

boundary leader-enabled cooperative control laws are constructed to achieve the main objective of this paper.

Finally, extensive numerical simulations are provided to support the suggested cooperative control law.

Keywords: cooperative control, set stability, robotic sensor networks, pollutant plume, distributed consensus, observer

Paper ID: P0077

Neural Approximation-based Variable Impedance Control of Robots

Xuexin Zhang1, Dongning Deng1 Tairen Sun2* and Yi Guo3

1Jiangsu University, Zhenjiang, China 2Jiangsu Academy of Numerical Control Machine, Yangzhou, China

3Institute of Automation, Chinese Academy of Sciences, Beijing, China

Abstract

Variable impedance control allows variation of the desired stiffness and the desired damping and gives more

flexibility and more abilities to robots in completion of complex tasks. But, most of existing variable impedance

control results are presented without stability guarantee. This paper proposes a first-order variable impedance

controller for robots with stability guarantee Novel constraints on variable impedance parameters are proposed to

ensure the stability of the desired first-order variable impedance dynamics. An adaptive neural controller with

deadzone modifications is proposed to achieve the desired first-order variable impedance dynamics through the

convergence of an variable impedance error. Theoretical analysis and simulation results validate the effectiveness

of the proposed variable impedance control method.

Keywords: robot control, adaptive control, neural network, impedance control

64

Paper ID: P0078

Characterization of a delta tail for an ornithopter: Effect of tail size and rotation

Joydeep Bhowmik1, Debopam Das2* and Sonu Pal2

1Department of Aerospace and Applied Mechanics, IIEST Shibpur, Howrah, India 2Department of Aerospace, IITKanpur, Kanpur, U.P., India

Abstract

The evolution of flight in birds is a benchmark for most aircraft designers. Apart from the level of aerodynamic

efficiency that birds exhibit, they are well adopted to precise control which enables them to take down prey or

perch perfectly of a tree branch. The tail of the bird thus plays a major role in the maneuverability. The tail can turn

and rotate in different directions and also can change its area. However replicas of birds also known as ornithopters

are far from perfection as compared to its natural role model. In this paper, the characterization of the tail is carried

out by exploring the effect of tail size and rotation in two axes and is studied to characterize the control authority of

a delta-shaped tail. Theoretical analysis is done to examine the forces and moments generated by the tail. The

theoretical model takes into account, the known aerodynamic characteristics of a delta wing and the orientation of

the tail with respect to the incoming flow in glide and flapping condition of the wings. An experiment is carried out

in a wind tunnel using a flapping mechanism with tail which can be rotated in pitch and yaw axis. Three different

sizes of tail have been used to study the effect of tail area. The findings of the experiment and the theory are also

compared and found to be agreeable. It has been found that such a tail can also produce a coupled control moment.

Thus a bird like tail can be used for pure pitching moment but rotation of the tail will produce both yaw and

pitching moment which will require a decoupling arrangement for desired flying and handling quality. In the

present work, the sizing requirements of the tail based on required control moments have been addressed.

Keywords: ornithopter tail, characterization, delta tail rotation

Paper ID: P0079

Adaptive network control for a class of underactuated systems with quantized input

signal and bounded disturbance

Lijun Wang1*, Rong Mei1, Jinkun Liu2 and Wencong Deng1

1University of Science and Technology Beijing, Beijing, China 2Beijing University of Aeronautics and Astronautics, Beijing, China

Abstract

The significance of input quantization adaptive network control is to combine a class of underactuated control

systems with bounded disturbances with communication, where the stability of the system will be affected by

problems such as signal loss and real-time caused by factors such as channel width during control signal

transmission. The system is in the form of a cascade where the input signal is quantized by a uniform quantizer.

The adaptive law and control law are designed, and the stability of the closed-loop system is guaranteed by the

Lyapunov method. It can be shown that with the proposed scheme, all output states of an underactuated system

with bounded disturbances can converge globally to a bounded range while maintaining the stability of the network

control system.

Keywords: adaptive network control, underactuated systems, quantized input, uniform quantizer

65

Paper ID: P0080

Performance evaluation of the shape and flexibility combination of the underwater

biomimetic fin propulsion

Arie Sukma Jaya1, Muljo Widodo Kartidjo1*

1Institute of Technology Bandung, Indonesia

Abstract

In nature, fishes as the dominant underwater creature use fins to perform underwater locomotion. The caudal fin

of fishes, as the main thrust generator, has been studied extensively by many researchers and becomes an

inspiration for a highly effective and efficient underwater propulsion. However, the relation of the combination of

shape and flexibility of the biomimetic fin to the performance such as thrust and efficiency is still remain unclear.

The present research evaluates experimentally the effect of the combination of shape and stiffness variation of

biomimetic fins to the fin performance. The shape of the fins were trapezoid in vertical and horizontal cross-section

to simplify a natural shape of the posterior body and caudal fin of fish and can be characterized by its taper ratio.

The rear-shapes of the fins were varied into truncate, round, fork, and lunate, while the flexibility of the fin were

varied based on material and thickness variation from leading edge to the trailing edge. Performance evaluation

were performed based on the results of net-thrust, thrust-to-power ratio, and cruising speed. The present research

shows that combination of shape and flexibility affect the performance of the fin significantly. Moreover, flexible

fins outperforms rigid fin in all performance parameters.

Keywords: performance, thrust, shape, flexible, biomimetic, fin, underwater

Paper ID: P0081

Hydrodynamic Design and Analysis of Low-drag Hybrid-AUV ITB

Muljo Widodo Kartidjo1*, Raja Aldo Marbungaran Manullang1 and Arie Sukma Jaya1

1Institute of Technology Bandung, Indonesia

Abstract

Hybrid-AUV ITB is a developed underwater vehicle that combines the characteristics of underwater glider and

conventional AUV (Autonomous Underwater Vehicle). Previously developed model has a total drag about 20 N at

cruising speed of 1.5 m/s. This model has a torpedo-shape main body, zero swept angle of main wing and rear

control surfaces, and thruster with an open fairing. The present research aims to modify the design of previously

developed Hybrid-AUV ITB in order to reduce the total drag of the vehicle at a design velocity of 1.5 m/s. The

design modifications includes low-drag cover of the main body, main wing and control surfaces with swept angle,

and closed fairing type on the thruster part. The 3D models were numerically simulated by using Computational

Fluid Dynamics software of ANSYS Fluent. The modified model show an improved low-drag performance by

reducing total drag about 30% from the previous model at the design speed.

Keywords: Hybrid-AUV ITB, Autonomous Underwater Vehicle, Computational Fluid Dynamics, drag, Reduction,

hydrodynamic

66

Paper ID: P0082

Stabilization of linear delayed Korteweg-de Vries Equation with unknown

disturbance by using constrained control

Wen Kang1*, Dawei Ding 1


Abstract

This paper deals with the boundary stabilization problem for Korteweg-de Vries equation with state delay and

unknown disturbance in the presence of actuator saturation.To stabilize the system, we design a state feedback

controller via the backstepping method and find a bound on the domain of attraction. The latter bound is based on

Lyapunov method, whereas the exponential stability of the delayed KdV system is proved by using generalized

Halanay's inequality. A numerical example is presented to validate the result.

Keywords: Constrained control, Korteweg-de Vries equation, backstepping transformation

Paper ID: P0083

Sampled-Data Fuzzy Control With Exponential Time-Varying Gains for Nonlinear

Parabolic PDE Systems

Zipeng Wang1*, Huaining Wu2 and Xiaohong Wang1

1University of Jinan, Jinan, China 2Beihang University, Beijing, China

Abstract

This paper considers sampled-data fuzzy control with exponential time-varying gains for nonlinear parabolic

partial differential equation (PDE) systems. Initially, the nonlinear PDE system is accurately represented by the

Takagi-Sugeno (T-S) fuzzy PDE model. Then, based on the fuzzy PDE model, a novel time-dependent Lyapunov

functional is used to design a sampled-data fuzzy controller with exponential time-varying gains such that the

closed-loop fuzzy PDE system is exponentially stable with a given decay rate. The stabilization condition is

presented in terms of a set of linear matrix inequalities (LMIs). Finally, simulation results on the temperature

profile of a catalytic rod show that the proposed design method is effective.

Keywords: sampled-Data Control, Fuzzy control, PDE systems, exponential time-varying gains

67

Paper ID: P0084

On designing Sampled-Data Observer With Exponential Time-Varying Gains for

Linear Time-Delay Distributed Parameter Systems 1University of Jinan, Jinan, China

2Beihang University, Beijing, China

Abstract

This paper considers the sampled-data observer design with exponential time-varying gains of linear time-delay

distributed parameter systems (DPSs) described by partial differential equations (PDEs). By utilizing a Lyapunov

functional, a sampled-data observer with exponential time-varying gains is proposed to stabilize exponentially the

estimation error PDE system. The stabilization condition is presented in the formulation of linear matrix

inequalities (LMIs). Finally, simulation results of a numerical example are provided to illustrate the effectiveness of

the proposed method.

Keywords: Sampled-data observer, time-delay, distributed parameter systems (DPSs), exponential time-varying gains

Paper ID: P0085

Research on Tracking Control of Four-wheel Independent Steering Robot Based on

Real-Time Offset

Chao Wang1*, Guoli Li1, Fang Liu1, Xiang Dong1, Jiazi Xu1 and PengWang1

1Anhui University, Hefei, China

Abstract

A tracking control strategy for four-wheel independent steering robot is proposed in this paper, the real-time,

fast and accurate path tracking is realized. First, the Ant Colony Optimization (ACO) Algorithm is used to plan the

optimal trajectory; Secondly, the coordinates and motion trajectory of the mobile robot are obtained in real time

through two orthogonal encoders, and the trajectory error is calculated in real time to control the motion of the

robot, thereby achieving high-precision closed-loop tracking control. The experimental results show that the

proposed tracking control strategy achieves real-time, fast and accurate tracking control.

Keywords: mobile robot, trajectory planning, tracking control, closed-loop control

68

Paper ID: P0086

Aerodynamic Characteristics of the coaxial quad-wing flapper

Huan Shen1, Aihong Ji1*, Qian Li1, Wei Wang1, Jiwei Yuan1 and Guangjian Gu1

1Nanjing University of Aeronautics and Astronautics, Nanjing, China

Abstract

As a special type of miniature flapping wing aircraft, the coaxial quad-wing flapper (CQWF) is more

advantageous in terms of flight speed and stability than the single flapping wing. These characteristics are closely

related to its unique pneumatic mechanism. Therefore, its aerodynamic generation mechanism has become a hot

spot in recent years. Based on the flow field simulation, the aerodynamic simulation of the constructed CQWF

model is carried out. The variation of the vorticity field at different angles of attack was observed, whose results

show that the change in angle of attack has a greater impact on lift, wherefore makes the CQWF more stable than

the single wing flapper. The fluttering movement based on "Clapping-fling" mechanism has a significant effect on

the acquisition of its lift, which provides a theoretical basis for the optimization of the flapping prototype. For

verifying the reliability of the flow field simulation process, a prototype of the CQWF was made, whose

aerodynamic performance was tested on an experimental platform built later on. The obtained aerodynamic data

has similar trends with the simulation. Finally, the performance research of the CQWF is summarized and the

subsequent research directions are put forward

Keywords: Coaxial quad-wing flapper, Aerodynamic simulation, Clap-Fling mechanism, Unsteady vortex

Paper ID: P0087

HOPE – A novel UAV design suitable for efficient VTOL and cruising missions

Tung Lam NGO1*, Dinh Thinh HOANG1, Tran Anh Khoi NGUYEN1, Minh Duc PHAM1, Huynh Tri

PHAM1, Khanh NGUYEN2, Thi Hong Hieu LE1 and Ngoc Hien NGUYEN3

1Department of Aerospace Engineering, HCMUT university, Vietnam 2Konkuk University, Seoul, South Korea

3Department of Mathematical Science, RMIT university, Australia

Abstract

Unmanned Aerial Vehicles (UAVs) have attracted many researchers due to their tremendous applications in

real-time scenarios with recent achievements of new designs that promise better performance. In this study, a novel

design of a new hybrid UAV that can operate seamlessly in both Vertical Take-Off and Landing (VTOL) and

Cruising modes is presented. The objective is to define a new concept that is the merge between a tricopter and a

fixed-wing to obtain performance advantages of each configuration such as VTOL and efficient cruising. A

complete design-manufacture-flight test process of the hybrid UAV – the HOPE is presented. Starting from design

process, the overall parameters are obtained, the model’s stability and aerodynamic properties of the fixed wing are

then analyzed. Next, a protocol the hybrid UAV is manufactured. Finally, several flight tests are conducted to verify

the capabilities of the design concept.

Keywords: hybrid UAV, design, manufacturing, AVL, CFD, control, performance

.

69

Paper ID: P0088

Fixed-time Event-triggered Formation Control for Multi-agent Systems with

Integrator Dynamics

Xiaofeng Chai1, Yao YU1* and Changyin Sun2

1University of Science and Technology Beijing,Beijing, China 2School of Automation, Southeast University, Nanjing, China

Abstract

In this paper, we study the fixed-time event-triggered formation problem of undirected multi-agent systems with

integrator dynamics. Two control scheme are developed respectively. Continuous communication and measurement

are avoided, and computation cost is reduced greatly in self-triggered strategy. Meanwhile, the settling time is to be

specified regardless the initial states of the agents. It is demonstrated that the time-varying formation can be

achieved asymptotically under the two proposed control schemes and Zeno behavior can be excluded. Finally

numerical examples are provided to illustrate the effectiveness of the proposed control strategies.

Keywords: multi-agent systems, formation control, fixed-time convergence, integrator dynamics

Paper ID: P0089

The influence of communication radius on the scalability of multi-agent system

Yue Liu1, Yongnan Jia1*, Qing Li1, Yalin Shang1 and Zheng Cai1


Abstract

The related research on multi-agent system is a hot topic in the field of control theory, and it provides a good

solution to the research of complex systems. Individuals in the cluster use simple rules and local interactions to

form a self-organizing behavior which has strong robustness, high adaptability and good scalability. In this paper,

based on Vicsek model, the control variate method is used to find the influence of communication radius on the

self-propelled motion of particle swarms by controlling the three parameters of particle swarms’ size (which

includes the density of particle swarms and the number of particles), random perturbation, and communication

radius. The order parameter is artificially defined to measure the motion consistency of individuals belonging to a

particle swarm. The experimental results show that under the condition of fixed particle swarms’ scale and random

perturbation, the larger the communication radius is, the more easily the particle swarms reach order. However,

when the communication radius reaches a certain value, the increase of radius has little effect on the order

parameter.

Keywords: communication radius, multi-agent system, noise, vicsek model, system scalability

70

Paper ID: P0090

Prototype of multirotor attached variable wing kite for airborne wind energy

generation

Kiyoteru Hayama1*, Tomohiro Kudou1 and Hiroki Irie1

1National Institute of Technology, Kumamoto College, Japan

Abstract

A new self-propelled variable wing kite as a flight platform specialized for airborne wind energy (AWE)

generation is proposed. The kite can change wing characteristics by itself and can take-off with multirotor. It is a

delta kite which forms by the left-right leading rods and the spreader which crosses to center rod, and the shape is

variable by sliding of center rod and spreader with servo motors. The angle of attack changes by opening and

closing the kite by sliding the center rod vertically. In addition, the left- and right-wing area can be varied for

turning can be performed by sliding center rod horizontally. As the test flight, it was confirmed that the variable

kite is controllable by the proposed mechanism. The fixed two rotors are installed to the variable kite for taking off

by itself. The test flight was done under weak wind, the tether towed kite can take-off stably by giving the thrust of

rotors.

Keywords: airborne wind energy, high sky wind energy generation, variable kite, multirotor, bicopter

Paper ID: P0091

Deep Kernel Canonical Correlation Analysis Based Multi-feature Fusion Non-rigid

3D Model Retrieval Method

Fuzhou Wang1*, Qi Wang1, Hui Zen1 and Heping Li1

1South China University of Technology, Guangzhou, China

Abstract

In this paper, a deep kernel canonical correlation analysis based multi-feature fusion non-rigid 3D model

retrieval method is proposed. As the numbers of the 3D points of different 3D models are different, and the

HKS/WKS feature are not suitable for directly feeding into the convolutional neural networks, the HKS/WKS

multi-scale distribution features are computed as the inputs of the convolutional neural networks. For two

convolutional neural networks, the high-level features and low-level features can be learned simultaneously by

using the way of cross-connecting. The two kinds of features are mapped into the high dimensional space to

perform correlation analysis by using the kernel canonical correlation analysis. Then the non-linear correlation

features can be extracted effectively, and the redundant information contained in the two features can be eliminated.

So we can make full use of the effective discriminative information in the two kinds of features. Extensive

experimental results have validated the effectiveness of the proposed non-rigid 3D model retrieval method.

Keywords: HKS feature, WKS feature, convolutional neural network, kernel canonical correlation analysis, non-rigid

3D model retrieval

71

Paper ID: P0092

Boundary iterative learning control of an Euler-Bernoulli beam based backstepping

technology

Yu Liu1*, Wenkang Zhan1

1 South China University of Technology, ZhouGuang, China

Abstract

This article puts forward a hybrid backstepping-boundary iterative learning control (B-BILC) to tackle vibration

problem for an Euler-Bernoulli beam system subjected to an unknown external disturbance. Based on Lyapunov's

synthesis method, a backstepping term and an iterative term are designed to reduce the vibration and attenuate the

effects of the unknown boundary disturbance under the consideration of model property. With the proposed

B-BILC scheme, the uniform boundedness of closed-loop system state and the convergence of the system output

are proved via Lyapunov theory. Simulations are provided to show the effectiveness of the proposed B-BILC

scheme.

Keywords: Euler-Bernoulli beam, Boundary control, Backstepping control, Iterative learning control

Paper ID: P0094

Performance study of stochastic event-triggered estimation algorithms for wireless

sensor networks

Yanyan, Hu1*, Zengwang Jin1 Chao Li1 and Zengwang Jin1


Abstract

Event-triggered mechanism is an effective approach to reduce the bandwidth requirement and energy

consumption at the sensor nodes in wireless sensor networks. For stochastic event-triggered systems, measurements

are only transmitted when a predetermined stochastic event is triggered. In this paper, the performance of stochastic

event-triggered estimation algorithms is studied and compared with the standard Kalman Filter and the intermittent

Kalman Filter with stochastic event-triggered measurements by simulation results. It is also illustrated that the

estimation performance could be improved by fusing information from multiple sensors in the wireless sensor

networks.

Keywords: State Estimation, Stochastic Event-triggered, wireless sensor network

72

Paper ID: P0097

Nominal Model Based Robust Tracking Control of Quadrotor UAV via Sliding Mode

Control Strategy

Hamid Maqsood1 and Yaohong Qu1*

1Northwestern Polytechnical University, Xi’an, China

Abstract

This paper proposes control scheme for a quadrotor UAV using sliding mode control strategy based on nominal

model. A nominal dynamic model of quadrotor UAV is established and control algorithm is designed using SMC to

achieve attitude control and altitude stability. Further, sliding mode control scheme is proposed for actual model

based on nominal model controller to achieve the desired control performance. The parametric uncertainties are

compensated and disturbances are rejected by the robust control algorithm for actual plant. For switching sliding

manifold design, the selection of tuning parameters for sliding variables is generally a sophisticated issue because

of its nonlinearity. A careful selection of tuning parameters for controllers of nominal and actual model is carried

out. Extensive simulation results are given to illustrate the effectiveness of the proposed control strategy.

Keywords: quadrotor UAV, system dynamics modeling, sliding mode control, nominal system

Paper ID: P0098

Nominal Model Based Robust Tracking Control of Quadrotor UAV via Sliding Mode

Control Strategy

Siqi Wang1, Xinmiao Sun1* and Dawei Ding1


Abstract

We address the optimal dynamic formation control problem in mobile leader-follower networks where an

optimal formation is generated to maximize a given objective function while continuously preserving connectivity.

When the optimal formation objective is to maximize coverage in a mission space cluttered with obstacles, we

propose a distributed reconfiguration approach for the formation which still optimizes the objective function while

avoiding the obstacles and ensuring connectivity. We include simulation results illustrating this dynamic formation

process.

Keywords: optimal formation control, cooperative control of multi-agent systems, optimal coverage control

73

Paper ID: P0099

System Modeling and Controller Design for Aircraft Lateral motion

Waqas Ahmed1*, Zhongjian Li1, Muhammad Tariq Sadiq1 and Muhammadistan1

1School of Automation Northwestern Polytechnical University, Xi’an, Shaanxi Province, China

Abstract

One of the key issues in designing of aircraft control system is lateral motion control. The main contribution of

this paper is to derive a new combination of control laws using Eigenstructure Assignment (EA) and

Proportional-Integral-Derivative (PID) in inner/outer loop configuration. Eigenstructure Assignment (EA) and

Proportional-Integral-Derivative (PID) both control laws work on the principle of linear feedback control law.

Aircraft model is obtained using newton Euler formulism. The Nonlinear model is linearized around certain

equilibrium conditions and state space modal is established. Extensions to the use of Eigenstructure assignment in

inner loop for the design of an aircraft stability augmentation and decoupling of system are examined in this paper.

PID controller is implemented in outer loop to control and track the aircraft roll angle. Implementing EA and PID

controllers in such configuration not only reduced the coupling between states but also effectively tracked the

reference roll angle Effectiveness of control techniques will be illustrated with the help Matlab/Simulink model and

results.

Keywords: aircraft modeling, stability and decoupling, Eigen structure assignment, PID

Paper ID: P0101

Robot Learning from Demonstrations with Obstacle Avoidance based on

GMM/GMR and Boundary Following

Uchenna Ogenyi1, Zhaojie Ju1*, Honghai Liu1, Jinguo Liu2, Jiacheng Tan1 and Qing Gao3

1University of Portsmouth, United Kingdom and with Michael Okpara University of Agriculture, Umudike, Abia State,

Nigeria 2Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China

3 China and University of Chinese Academy of Sciences, Beijing, China

Abstract

This paper presents an approach to enable a robot to learn a task model in a static environment and robustly

generalize it to different goal points in an environment with obstacles. In the proposed system, a demonstration

under various states of the environment is used to learn the task model. The approach combined GMM/GMR which

was used to encode the demonstrated model, compute the conditional expectation from the given parameters and

reproduce a generalized trajectory; and a boundary following control approach for realizing a smooth trajectory,

and robust obstacle avoidance involving several objects acting as obstacles. The proposed approach was

implemented on a collaborative robot and the performance was verified through simulations. The experimental

evaluation entails a robot moving an object from its starting state to a target state while avoiding obstacles. A task is

only achieved if a robot successfully completes a trajectory from the start state to the target state while avoiding the

obstacle, maintaining the admissible space for a given task, and generalizing the learned task smoothly. The results

demonstrate that the research strategy is tolerant of constraints arising from measurements noise and model error.

Based on the results of this research, the proposed approach can find practical application in small and medium

scale-sized industrial production lines where a robot must avoid collision with obstacles including human

collaborator; hence, facilitating Human-Robot Collaboration such that a user can easily teach not only the desired

task but also the desired obstacle avoidance control policies to the robot.

Keywords: programming by demonstration, robot learning from demonstration, control policy, Gaussian mixture

model, trajectory

74

Paper ID: P0102

Object Traversing by Monocular UAV in Outdoor Environment

Jinwen Hu1, Congzhe Zhang1, Chunhui Zhao1* and Man Wang1


Abstract

This paper deals with the path planning problem for unmanned vehicles based on reinforcement learning.

Considering the unmanned vehicles’ dynamic model, the neural network is used to approximate the value function.

Besides, in order to make it more suitable for practical applications and speed up the learning process, the recursive

least squares algorithm is used to eliminate the inverse operation. Then some experiments are implemented to

verify the effectiveness of the proposed improved value function approximation algorithm. It is proved to have

improved the generalization performance of reinforcement learning in continuous space.

Keywords: unmanned vehicles, reinforcement learning, path planning, neural network

Paper ID: P0103

Path Planning for Unmanned Vehicles Based on Q-learning

Houxin Zhang1, Jinwen Hu1*, Zhuoyi Li1, and Chunhui Zhao1


Abstract

This paper presents a real-time perception and path planning algorithm that enables unmanned aerial vehicles

(UAVs) to perceive typical static object and calculate trajectory for object traversing based on a monocular camera

in a cluttered environment. The UAV system consists of visual perception module with a monocular camera, online

path planning algorithm and a flight controller system. For visual perception, a series of simple and efficient

image-processing methods are combined to recognize and detect the object and these information is used to

estimate 3D object position with an EKF filter. The real-time path planning algorithm computes the trajectory of

approaching and traversing according to the perception results, and a way-point controller is designed in the outer

loop which can control the UAV by inputting a 3D position in the world coordinate frame (NED).Practical

experiments designed can verify the feasibility of our proposed system in a low-altitude environment, the results

and analysis of the experiments are shown in a detail.

Keywords: unmanned aerial vehicle, visual perception, path planning, motion control

75

Paper ID: P0104

Monocular UAV Target Following Based on Deep Learning

Zhao Lin1, Jinwen Hu1*, Chunhui Zhao1 and Jiayu Wang1


Abstract

In this paper, we combine target detection and depth estimation into a framework which allows the UAV to

follow the target by using detection algorithm, and maintain certain depth between UAV and target by using depth

estimation algorithm. Target detection method is based on tiny-YOLOv3, but expands the original two-scale

detection to three-scale detection, and achieves more accurate detection results than before. Besides, regression

network, using the proportion of the target to the whole image in the detection network as input, is designed by

ourselves to estimate the depth of target at the object level, which reduces the computational complexity of depth

estimation. The actual flight experiment shows that our detection algorithm can effectively detect and follow the

target, the depth estimation algorithm can prevent collisions from happening and complete the desired following

requirement.

Keywords: unmanned aerial vehicle, target detection, depth estimation.

Paper ID: P0106

Comprehensive-Competitive Learning Particle Swarm Optimization with History

Information Based Adaptive Mutation Operator for Large Scale Optimization

Dongyang Li1, Lei Wang1 and Weian Guo1*

1Electronics and Information Engineering, Tongji University, Shanghai, China

Abstract

Large scale optimization, which can be widely found in engineering and scientific studies, is still challenging

for evolutionary algorithms (EAs). That is mainly because “the curse of dimensionality” caused by largescale

optimization always leads EAs to premature and converge to the local optima. To cope with this issue, a novel

variant of particle swarm optimization named comprehensive-competitive learning particle swarm optimization

with history information based adaptive mutation operator (CCLPSO-H) is put forward in the paper. In the

proposed algorithm, on one hand, the comprehensive learning and the competitive learning strategies are adopted to

enhance the search ability of PSO; on the other hand, a history information based adaptive mutation operator is

introduced, it not only can further serve the diversity maintaining, but also able to benefit exploitation in later

optimization stage with the proposed adaptive mutation probability control strategy. To validate the effectiveness of

the proposed algorithm, several state-of-art large scale optimization algorithms and the test benchmarks from IEEE

CEC’s 2013 are employed to conduct the comparison experiments and the t-test based numerical analysis

demonstrates the promising performance of the proposed algorithm.

Keywords: particle swarm optimization, large scale optimization, competitive learning strategy, comprehensive

learning strategy, history information based adaptive mutation

76

Paper ID: P0111

Design and Evaluation of Autonomous Aerial Survey System

Gunnho Song1, Kunwoo Park1, and Kwang Joon Yoon1*

1Konkuk University, Shanghai, China, Seoul, Korea

Abstract

Current aerial survey systems lack scheduled flight capability, thus requiring persistent human attendance. As

such, continuous on-site monitoring capability of such systems is severely hampered by a human factor. The

autonomous multi-copter aerial survey system proposed in this study, combined with RTK (Real Time Kinematics)

system, provides scheduled and consistent aerial surveying capability that can be utilized in various industries.

A systematic approach was employed in this study to define necessary components of such system and

corresponding performance requirements. These include autonomous FCS (Flight Control System), camera

assembly for centimeter-accurate geotagging, landing station with recharging capability, and web-based

GCS(Ground Control System) application for survey area designation and scheduling. The surveying accuracy of

combined system is evaluated by a point-cloud matching with respect to geometry of pre-selected object, using

Pix4DMapper software.

Keywords: multi-copter, aerial survey, autonomous, real-time kinematics.

Paper ID: P0112

Real-time and High-precision Indoor Localization System Based on WiFi CSI

Ziqiu Zhao1, Zhenyue Gao1, Kai Song1 and Wendong Xiao1*


Abstract

In this paper, through the preprocessing of WiFi CSI data, linear transformation, multiple signal classification

(MUSIC) spectrum is obtained by two-dimensional search by MUSIC algorithm, and the peak value of MUSIC

spectrum is clustered by K-means algorithm to estimate the signal arrival angle. The Kalman filter is used to track

the change of the angle of arrival, and a more accurate estimation of the angle of arrival is obtained. In this paper,

we use only two receiving devices to measure the incident angle of WiFi signals. Localization can be achieved with

the two receiving angles by using triangulation method. This paper implements a real-time indoor localization

system based on WiFi CSI, which can achieve position calculation 10 times per second. The average absolute

localization accuracy of the method described in this paper reaches 50 cm, which realizes a decimeter-level WiFi

indoor localization solution with real time, low cost and high precision.

Keywords: indoor localization, real-time, WiFi CSI, multiple signal classification, kalman filter

77

Paper ID: P0113

Development of RTK (Real-Time Kinematic) GPS based system for precision landing

and charging of multi-copter drone

Kunwoo Park1, Gunnho Song1, Kai Song1, and Kwang Joon Yoon1*

1Konkuk University, Shanghai, China, Seoul, Korea

Abstract

In this paper, RTK GPS was combined with drone system to implement precision guidance system and

precision self-control navigation system in order to develop drone that can land precisely on automatic landing and

charging station. A single GPS and RTK GPS were loaded into the drone system to perform tests, and the distance

from the landing point of the two systems was measured through repeated automatic take-off and landing tests. As

a result, a multi-copter drone system with precision landing guidance was verified based on the measured landing

point.

Keywords: RTK-GPS, drone system, precision guidance system, automatic take-off and landing tests.

Paper ID: P0114

Non Linear Dynamic Inversion Based Guidance and Control Approaches for

Autonomous Landing Of UAV

Pooja Josekumar1*, Dinesh Kumar M2 and Beena N1

1Department of Electrical and Electronics Engineering College of Engineering Trivandrum, Kerala, India 2 Sci/Engr SE, GDD/CGSE Vikram Sarabhai Space Centre Trivandrum, Kerala, India

Abstract

This paper presents guidance and control approaches for UAV landing. Two different approach for guidance is

attempted and a non-linear control design using dynamic inversion for autonomous landing of unmanned aerial

vehicles. Landing maneuver is divided into glide slope and flare phases. In glide slope and flare, UAV follows

straight line and exponential curves respectively. Outer is the guidance loop, output is the desired body rates. Inner

loop is the control loop which generates the control commands from the desired body rates. Since only longitudinal

mode is considered, desired pitch rate is obtained from outer loop and elevator deflection is obtained from inner

loop. First approach involves getting desired pitch rate from altitude control. Second approach involves usage of

both flight path angle and altitude control to get desired pitch rate. Dynamic inversion is an easy way of controlling

non-linear systems. For controller design, a non-linear six degrees of freedom aircraft model is used. Matlab

simulations are used to evaluate the performance of different guidance approach of UAV. The comparative results

show robustness of new approach towards landing and give promising results as that of existing methods.

Keywords: non-linear dynamic inversion, unmanned aerial vehicle, altitude control, landing

78

Paper ID: P0115

State Estimation in Visual Inertial Autonomous Helicopter Landing Using

Optimization on Manifold

Thinh Hoang Dinh1*, Hieu Le Thi Hong1 and Dinh Tri Ngo1

1Ho Chi Minh City University of Technology, Ho Chi Minh, Vietnam

Abstract

Autonomous helicopter landing is a challenging task that requires precise information about the aircraft states

regarding the helicopter’s position, attitude, as well as position of the helipad. To this end, we propose a solution

that fuses data from an Inertial Measurement Unit (IMU) and a monocular camera which is capable of detecting

helipad’s position in the image plane. The algorithm utilises manifold-based nonlinear optimisation over

preintegrated IMU measurements and reprojection error in temporally uniformly distributed keyframes, exhibiting

good performance in terms of accuracy and being computationally feasible. Our contributions of this paper are the

formal address of the landmarks’ Jacobian expressions and the adaptation of equality constrained Gauss-Newton

method to this specific problem. Numerical simulations on MATLAB/Simulink confirm the validity of given

claims.

Keywords: optimization, Riemannian manifold, state estimation, helicopter, landing, SLAM

Paper ID: P0116

Design and Analysis of on-line Secondary Path Identification by using Variable Step

Size LMS algorithm for Active Vibration Control System

Muhammadistan1*, Tang Wei1, Adnan Ashraf1, Waqas Ahmed1, Tanveer Ali1 and Dinh Tri Ngo1


Abstract

The Filtered X least mean square (FXLMS) algorithm has been widely used in Active vibration control system,

where the secondary path is usually estimated online by injecting auxiliary noise. The proposed model use Chirp

signal for estimating of online secondary path identification which contributes to the residual error and to ensure

the convergence of the AVC system, and also studied the convergence behavior of the FXLMS algorithm in AVC

system by using chirp signal. The method utilize variable step size (VSS) FXLMS for online secondary

identification which has low computational complexity with good performance rate. The method also solve the

problem of auxiliary noise appearing in the residual vibration.

Computer simulation results show that an active vibration control system with the proposed method give much

better vibration attenuation and modeling accuracy at the fast convergence rate.

Keywords: active vibration control, online secondary path identification, chirp signal, variable step size

79

Paper ID: P0118

Sampled-Data Filtering for Interval Type-2 Fuzzy Systems with Time-varying Delays

and Parameter Uncertainties

Guangtao Ran1, Jian Liu2 and Yangling Zhang2*

1Harbin Institute of Technology, Harbin, China 2University of Science and Technology Beijing, Beijing, China

Abstract

The focus of this paper is on designing H∞ filter for interval type-2 (IT2) fuzzy systems with time-varying

delays and parameter uncertainties. The IT2 fuzzy systems model is established, which fully captures the parameter

uncertainties of the systems by using upper and lower membership functions. Simultaneously, the fuzzy filter

model with different premise variables is constructed. Furthermore, based on sampled-data structure, a filtering

error system is constructed. The stability and parameter existence conditions of the designed filter are given by

using Lyapunov theory and matrix decoupling technique. Finally, a simulation example is given to illustrate the

usefulness of the proposed filtering approach.

Keywords: interval type-2 (IT2) fuzzy systems, sampled-data filtering, time-varying delays, filter design

Paper ID: P0119

Fault Detection Filter Design for a Class of Conic-Type Nonlinear Systems

Jiancheng Wang1, Chengcheng Ren1, and Shuping He1

1School of Electrical Engineering and Automation, Anhui University, Hefei, China

Abstract

This paper investigates the problem of robust fault detection filter (RFDF) design for a class of conic-type

nonlinear systems. Moreover, taking into account the sensitivity to the faults while guaranteeing robustness against

the external disturbances, the H∞ filtering scheme is proposed to minimize the influences of the external

disturbance and enhance the sensitivity to the faults. Then, the RFDF design scheme can be derived as an

optimization one in terms of linear matrix inequalities technique. Finally, a simulation example is demonstrated to

illustrate the feasibility of the studied methods.

Keywords: conic-type nonlinear systems, robust fault detection filter (RFDF), linear matrix inequalities (LMIs)

80

Paper ID: P0121

Switching Extended Kalman and Sparse Extended Information Filtering SLAM

Algorithm Based on Fuzzy Logic

Hang Fu1, Chao Ma1, Wei Wu2*, Yidao Ji1 and Wenjun Zhu3

1University of Science and Technology Beijing, Beijing, China 2Institute of Automation, Chinese Academy of Science, Beijing, China

3 Nanjing Technology University, Nanjing, China

Abstract

This paper investigates the simultaneous localization and mapping (SLAM) problem by proposing a novel

switching extended Kalman filtering (EKF) and sparse extended information filtering (SEIF) strategy based on

fuzzy logic. More precisely, the switching rule is dependent on the feature confidence and the numbers of

landmarks during localization and mapping procedure. By the designed fuzzy logic architecture, the algorithm

efficiency and accuracy can be improved and the with corresponding SLAM algorithm.

Keywords: switching filtering, extended Kalman filtering, sparse extended information filtering, SLAM, fuzzy logic

Paper ID: P0122

Control of Fully Actuated MSV with Stochastic Disturbances and Output

Constraints

Yujun Zou1, Shud He1, Shi-Lu Dai1* and Chao Dong2

1South China University of Technology, Guangzhou, China 2South China Sea Marine Survey and Technology Center, State Oceanic Administration, Guangzhou, China

Abstract

This paper addresses the trajectory tracking control problem of a marine surface vehicle with stochastic

disturbances, where the tracking errors are required to preserve within a prescribed constant bound. Since the

vehicle system is exposed to the stochastic disturbances, the quartic Lyapunov function is introduced into the

controller design such that Hessian terms are overcome. To further deal with the transient and steady-state

performances of trajectory tracking, a tan-type barrier Lyapunov function is introduced to guarantee the satisfaction

of the prescribed tracking error constraints. Based on backstepping procedure, barrier Lyapunov functions, and

Lyapunov synthesis, feedback control laws are proposed to ensure the prescribed tracking error constraints. The

proposed control laws are shown to guarantee the boundedness of the tracking errors with the prescribed

performance. The constraint requirements on the tracking errors are not violated in the course of operation in

probability. Simulation results illustrate the performance of the proposed control laws.

Keywords: marine surface vehicle (MSV), barrier Lyapunov function, stochastic disturbances

81

Paper ID: P0123

Distributed Cooperative Learning Control for Multi-manipulators

Tao Teng1, Chenguang Yang1* and Wei He2

1South China University of Technology, Guangzhou, China 2University of Science and Technology Beijing, Beijing, China

Abstract

This paper studies the distributed cooperative learning (DCL) of neural networks (NNs) for model sharing

control of multi-manipulators system. In this paper, the adaptive learning and generalization of NNs sharing

knowledge between isomorphic independent manipulator in multi-manipulators system is discussed in depth. By

establishing the communication topology between NNs learning algorithms, the dynamic model sharing control of

multi-manipulators system is carried out. Based on deterministic learning, it could be further derived that the model

estimation of the distributed multi-manipulators system can be converged. Compared with distributed independent

deterministic learning of a single system, the distributed cooperative learning controllers have better robustness and

generalization. Comparative simulation results and performance analysis validate the effectiveness and advantages

of the proposed approach.

Keywords: neural networks, communication topology, multi-manipulators, distributed cooperative learning

Paper ID: P0124

Curvilinear path generation for UGV with improved ant colony algorithm

Hub Ali1*, Dawei Gong1, Xinyue Lanand and Anxu Li1

1University of Science and Technology of China, Chengdu, China

Abstract

To deal with the complexity of different maps considering safety and path consistency is a problem which has to

be addressed in path planning of Unmanned Ground Vehicle (UGV). In this paper, an efficient approach is

introduced through combining improved Ant Colony Optimization (ACO) algorithm with cubic spline

parametrization to provide smooth global route. Firstly, grid map is constructed. Initial cost policy is introduced for

ant to search and performance of ant colony algorithm is improved through adding A* heuristic search and

MAX_MIN ant system characteristics to enhance global searching ability. To improve localization and path

consistency in global path, an evaluation function based on novel cost policy is introduced to evaluate path

candidates in order to improve the quality of global path. At last, arc-length parametrization is applied to achieve

path consistency and smoothness. The simulation results show optimal performance of this approach in complex

maps including common and tunnel maps as compared with other versions of ACO algorithm.

Keywords: path planning, UGV, ACO

82

Paper ID: P0125

Auto-correlogram Representations with Diversity Sampling for Biological Neural

Network Perception

Yanfen Mao1*, Weian Guo1 and Yanling Xu1

1College of Applied Sciences, Tongji University, Shanghai, China

Abstract

Knowledge representation is one of the fundamental issues for perception problems. Inspired by the hierarchical

temporal memory system, a perception framework is proposed for biological neural network. Auto-correlogram

representations describes semantic characteristics of data using diversity sampling, thus the knowledge is

distributed to representations to prevent noise and error. We examine semantic similarity comparison with

histogram, RGB correlogram and HSV correlogram. Experimental results demonstrate the effective of

auto-correlogram representations that incorporate color into spatial information. Therefore, sequence inputs are

encoding into representations, so further learning do not need training-validation-test approaches and might exceed

limitations of batch-training paradigm. Finally, we discuss the potential extension to auditory data and point out

promising directions for future research.

Keywords: auto-correlogram, biological neural network, knowledge representation, perception intelligence

Paper ID: P0126

A Novel Algorithm for Paroxysmal Atrial Fibrillation Detection Based on Multi-Level

RR Interval Features

Yuxiang Yang1, Wendong Xiao1* and Jiankang Wu2

1University of Science and Technology Beijing, Beijing, China 2University of Chinese Academy of Sciences, Beijing, China

Abstract

Atrial fibrillation (AF), the most common arrhythmia in clinic, is an independent risk factor for major

cardiovascular diseases such as stroke. Accurate detection of paroxysmal atrial fibrillation (PAF) is of great

significance for stoke prevention. Currently the clinical diagnosis of PAF relies on tedious manual inspection of

ECG signal by well-trained clinicians, and there is an urgent need for computer detection of PAF. However, most

AF detection researches so far are proposed for long-term AF rather than PAF. In addition, the existence of anomaly

heart beats is another obstacle for further performance improvement of AF detection. This paper proposes a novel

Paroxysmal Atrial Fibrillation Detection Algorithm (PAFDA). In preprocessing, R peaks are firstly detected,

followed by the removal of abnormal beats. Next, sixteen AF features are extracted for each RR segment using

statistical analysis, entropy estimation, and nonlinear analysis. Then, the support vector machine is applied for PAF

classification. Finally, the MIT-BIH Atrial Fibrillation Database, a standard dataset provided by PhysioNet, is used

to train and test the algorithm with five-fold cross-validation and two public databases is adopted for verification.

The PAF detection accuracy using PAFDA on the MIT-BIH AF database achieved the sensitivity of 99.9% and the

specificity of 98.4%, which are higher than the published results so far. In the verification, PAFDA also achieved

very good accuracy: specificity of 99.4% on the MIT-BIH NSR database, sensitivity of 95.6% and specificity of

87.9% on the CPSC2018 database.

Keywords: paroxysmal atrial fibrillation, electrocardiogram , abnormal beats detection , multi-level AF ,

feature extraction, support vector machine

.

83

Paper ID: P0127

The Effect of Static Var Compensator on Power System Stability

Hao Luo1, Chaoxu Mu1*, Zhang Yong1, Youyi Zhou1 and Zhaoyang Liu1

1Tianjin University, Tianjin, China

Abstract

With the rapid development of the modern power system, the capacity of power system is gradually increasing.

Because the actual environment is complex and changeable, the power system will inevitably be affected by

various external disturbances and faults. Therefore, it is of great significance to study the stability of power system

under sudden faults. The static var compensator (SVC) has obvious effect on improving the stability of power

system. In order to verify it, the working principle and internal control system of SVC are introduced first. In

addition, a two-area power system is built, the rotor speed and angle differences after short-circuit fault in power

system are analyzed. Furthermore, the stability of two-area power system with SVC after short-circuit fault is

analyzed as a comparison. The simulation results show that SVC can quickly restore the stability of power system

when short-circuit fault occurs, which plays an important role in improving the stability of power system.

Keywords: power system stability, static var compensator (SVC), short-circuit fault, bus voltage

Paper ID: P0128

Boundary Control of a Flexible Satellite System with Unknown External Disturbance

Xiaohui Zheng1, Wenkang Zhan1 and Yu Liu1*

1School of Automation Science and Engineering, South China University of Technology, Guangzhou, China

Abstract

In this paper, the infinite dimensional partial differential equation model of a flexible satellite system with unknown

external disturbance is derived by utilizing Euler-Bernoulli beam theory and Hamilton's principle. Then a boundary

control is proposed to compensate for the disturbance uncertainties and reduce the vibration. With the proposed control

scheme, the stability of closed-loop flexible satellite system has been proved by applying Lyapunov theory. The results

of simulation indicate the effectiveness of the proposed control method.

Keywords: flexible satellite, vibration suppression, boundary control, stability

84

Paper ID: P0129

Evolving Swarm for Search and Rescue Mission: Potential, Development and Risk

Faqihza Mukhlish1*, John Page1 and Michael Bain1

1The University of New South Wales, Sydney, Australia

Abstract

A search and rescue (SAR) missions’ efficiency depends substantively on the numbers of available assets and

how well the search and rescue plans are tailored to tackle the specific mission in an uncertain environment. These

requirements show that the availability of assets and careful planning are the main factors leading to success.

However, since the location and thus the environment, in its widest sense, of accident location is uncertain, the

capabilities of search and rescue components need to accommodate all possible situations. Hence, improvements in

search assets capabilities and expert planning are vital, so the operation can be efficiently done despite of restricted

availability of assets and uncertain conditions in the search area. A technology that offers some advantages in

addressing these constrains is swarm technology. This technology is a decentralized multi-agent system that offers

scalability, flexibility, and robustness to tackle complex tasks collectively. With those characteristics, swarm

technology has potentials to improve search and rescue missions’ efficiency. In this article, ow the deployment of a

swarm system for search and rescue operations will be discussed along with its potential, current developments,

and future risks.

Keywords: swarm robotics, multi-agent system, evolutionary computation, search and rescue mission, unmanned

aerial vehicle

Paper ID: P0130

Backstepping-Based Tracking Control for VTOL UAVs With Time-varying Output

Constraints

Jinglan Li1, Qinmin Yang1, Yunpeng Liand and Wei Zhang2

1Zhejiang University, Hangzhou, China 2Civil Aviation University of China, Tianjin, China

Abstract

In this paper, a backstepping-based tracking control strategy is proposed for a class of vertical take-off and

landing (VTOL) unmanned aerial vehicle (UAV) systems with external disturbances and time-varying output

constraints. It is shown that the outputs of the vehicle system are guaranteed to stay within the prescribed regions

for all time. To achieve such performance, the transformation technique is introduced to generate an equivalent

unconstrained system from the original constrained one, whose stability ensures the original system to be restricted

by the time-varying output constraints. Based on the robust adaptive approach, external disturbances can also be

handled. Stability analysis is achieved through Lyapunov theory, along with all the closed-loop signals being

bounded. Additionally, the simulation study has been carried out to demonstrate the feasibility of the developed

control scheme.

Keywords: vertical take-off and landing (VTOL), unmanned aerial vehicle (UAV), output constrains, robust, control

85

Paper ID: P0131

Method for Estimating the Internal Temperature of Machine Tool Spindle from

Surface Temperature

Yuh-Chung Hu1*, David T.W. Lin2 and Chun-Ping Jen3

1National ILan University, Taipei, Taiwan 2National University of Tainan, Tainan, Taiwan

3National Chung Cheng University, Yunlin, Taiwan

Abstract

The thermal deformation of a machine tool spindle is one of the key factors to the machining accuracy of

machine tools. However, the real temperature inside the spindle is unable to measure directly. This paper proposes a

method to accurately estimate the internal temperature of machine tool spindle through identifying its

thermo-feature. The methodology contains hardware and software. The software is a Thermo-Feature Identification

Algorithm (TFIA) to identify the Thermal Network Model (TNM) of the spindle. The hardware is a Temperature

Sensing and Wireless Transmission Module (TS-WTM) to acquire the training data of temperature. The self-made

TS-WTM, with five channels, uses Resistance Temperature Detectors (RTD) to acquire the training data of the five

characteristic positions of the spindle wherein three interiors to it and two located on its surface. The training data

are entered into the TFIA to identify the spindle’s TNM. The identified TNM can applied to estimate the

temperature variation of the spindle at various rotational speed. Compared with experiment, the consistence of the

temperature estimation can reach to 85.47% and 93.14% at operating mode and natural cooling mode respectively.

Keywords: machine tool spindle, system identification, thermal network model

Paper ID: P0132

Excitation Force Estimation for Wave Energy Converters Using Super Twisting

Observer

Yao Zhang1*, Guang Li2 and Wei He3

1Queen Mary University of London, London, UK 2University of Science and Technology Beijing, Beijing, China

Abstract

A super twisting sliding mode observer (STSMO) is proposed to achieve the real-time excitation force

estimation for wave energy converters in this paper. The main advantages of the proposed observer include

robustness, fast convergence speed and high estimation accuracy. The proposed observer is proven to be finite-time

convergent with a known convergence time limit, which allows one to estimate in advance when the proposed

observer starts to provide accurate information. The coefficients of the proposed observer are time-varying

according to the system states and a sliding mode variable is introduced to keep the estimated dynamics close to the

actual dynamics. Simulation results show the effectiveness and superiority of the proposed observer by comparison

with the Kalman Filter.

Keywords: super twisting method, excitation force, wave energy converters, sliding mode method

86

Paper ID: P0134

V-SLAM Loop Closure Detection Based on Deep Compression Network

Jing Xin1*, Na Zhang2, Yin Yang and Youmin Zhang3

1School of Automation and Information Engineering, Xi'an University of Technology, Xi’an, China 2Industrial and Aerospace Engineering, Concordia University, Montreal, Canada

Abstract

Aiming at the slow speed of V-SLAM loop closure detection based on deep learning, a novel

V-SLAM loop closure detection algorithm based on deep learning is proposed in this paper, which

uses well-trained convolutional neural network (Place365-VGG model) to learn features. Firstly, the

well-trained deep learning network is compressed to reduce redundant parameters. Then, the output of

the last pooling layer of the compressed network is used as image feature. Finally, the cosine distance

is used as image similarity measure to judge whether the two images are similar or not, and to

determine whether the closed loop is detected. The experimental results show that our proposed

V-SLAM loop closure detection algorithm can not only effectively detect the closed loop, but also has

high detection speed.

Keywords: V-SLAM, loop closure detection, deep learning, model compression

Paper ID: P0135

Two-DOF Manipulator Joint Rotation Control Driven by Electrohydraulic

Actuator

Qing Guo1*, Xiaochai Li1 and Fan Guo1

1University of Science and Technology of China, Beijing, China

Abstract

In this study, a Two-DOF manipulator motion control system is investigated to verify the driving

control scheme of the electro-hydraulic servo actuator. This manipulator is imitated like the Bigdog’s

limb, which has two typical ration degree-of-freedoms. Since the electro-hydraulic actuator is

currently widely used in mechatronic control engineering as it has a superior load efficiency, the

manipulator can be improve the joint control accuracy and dynamic response under large external load

disturbance and parametric uncertainty. The power of manipulator is supplied by a small pump station,

which can regulate the pressure supply with respect to different external load magnitudes. The servo

valve is the flow control element, which can throttle the flow by the spool position regulation in the

flow control loop of electro-hydraulic system. The hydraulic cylinder is connected to two hinge points,

which transforms the joint ration into the cylinder movement. Due to the favorable anti-disturbance

capability of the hydraulic cylinder motion with time-varying load, the dynamic tracking performance

and the steady state control accuracy of the cylinder position are achieved by the proposed

gain-scheduling control algorithm. The experimental results indicate the effectiveness of the

electro-hydraulic servo driving scheme used in the joint rotation control Two-DOF manipulator.

Keywords: manipulator, joint rotation control, electrohydraulic actuator, gain-scheduling control

87

Paper ID: P0136

Adaptive Output Feedback Control for Non-Square Systems

Zhongjiao Shi1*

1 University of Notre Dame, South Bend, America

Abstract

This paper presents a novel alternative method for designing adaptive output-feedback

controllers for a class of non-square uncertain multi-input multi-output systems. The controller is

composed of a baseline controller and an adaptive controller, and it makes use of the closed-loop

reference model to observe the system states to construct the baseline controller and improve the

transient properties of the overall system. First, a square-up method is employed to make the system

square, which is a necessary for the strict positive real (SPR) property. Then, a mixing matrix

$M$ and observer gain matrix $L$ are selected with the proposed method to make the error dynamics

satisfy the SPR property. Last, the simulation results show that, the proposed method can guarantee

the overall system stable in the presence of uncertainties.

Keywords: Adaptive control, output feedback, non-square system, LMI

Paper ID: P0137

Control Design of Flexible Mobile Manipulator Subject to Actuator

Degradation

Xueyan Xing1* and Jinkun Liu1


Abstract

A control scheme is developed based on a hybrid partial differential equation and ordinary

differential equation (PDE-ODE) model in this paper for a flexible mobile manipulator system in the

presence of actuator failures. Under the proposed control laws, it guarantees that the vibration of the

flexible manipulator can be suppressed with actuation redundancy. Moreover, the position regulation

of the rigid mobile platform and joint can also be achieved in the case of actuator failures with the

proposed control. The stability of the closed-loop system is demonstrated.

Keywords: adaptive fault-tolerant control, flexible mobile manipulator, vibration suppression,

position regulation

88

Paper ID: P0138

Stability Control Design for a One-dimensional Flexible Satellite System

with Input Backlash

Zhiqiang Lin1*, Junfeng Huang1, and Zhifeng Tan1

1 Guangzhou University, Guangzhou, China

Abstract

In this paper, we deal with the vibration control problem of a one-dimensional flexible satellite

system with unknown external disturbance and uncertain input backlash nonlinearity. Two boundary

control inputs are designed at the center body of the satellite, compensating for the unknown

upper-bound of the backlash non-linearity item by applying proper online updating laws. As a result,

the vibration of the flexible satellite is suppressed and the angle position is regulated in the desired

region. Numerical simulations are provided to verify the control performance of the proposed

controls.

Keywords: Vibration control, Adaptive control, Flexible satellite, Input backlash

Paper ID: P0139

An Adaptive-sparse Deep Belief Network with Improved Robustness

Gongming Wang1*, Qingshan Jia1, and Junfei Qiao2

1Tsinghua University, Beijing, China

2Beijing University of Technology, Beijing, China

Abstract

Deep belief network (DBN) is an effective generative model for unknown data representation,

especially nonlinear system modeling. However, it is difficult to determine an optimal DBN with

more robust structure due to the traditional dense representation, where any fluctuations in the input

can change most of the features in the representation vector. In this paper, an adaptive-sparse DBN

(ASDBN) is proposed, which can obtain a more robust structure and a more accurate model. First,

two sparsity terms are introduced into RBM training process to realize sparse representation, where

one sparsity term considers the activation expectation of hidden neurons and another one controls the

force degree of sparseness. Second, adaptive learning rate is designed to accelerate training process of

sparse RBM, then adaptive-sparse DBN is constructed by sparse RBM with adaptive learning rate.

Finally, the ASDBN is tested on classical nonlinear system, MNIST dataset and CIFAR-10 dataset.

Simulation results show that the proposed ASDBN has better modeling performance, faster learning

speed, and better robustness than existing similar models.

Keywords: Deep belief network, robust structure, sparse adaptive RBM, PLSRbased fine-tuning,

convergence analysis

89

Paper ID: P0140

Stability Control Design for a Flexible Beam System with Deflection and

Speed Output Constraints

Zhiqiang Lin1*, Junfeng Huang1, and Zhifeng Tan1

1 Guangzhou University, Guangzhou, China

Abstract

In this paper, we investigate the vibration control problem of a flexible Euler-Bernoulli beam

system for considering deflection and speed output constraints. The system is described by a partial

differential equation as governing equation and by ordinary differential equations as boundary

conditions. A boundary control law is developed based on a barrier Lyapunov function. By the

proposed control scheme, the asymptotic stability of the considered system is achieved via LaSalle’s

Invariance Principle. Moreover, the deflection and speed are limited into desirable regions. Numerical

simulations are provided to verify the performances of this control.

Keywords: Vibration control, Adaptive control, Flexible structure, Barrier Lyapunov function, Output

constraint

Paper ID: P0148

Vibration Control for a Flexible-Link Beam with Output Constraint Based

on a Disturbance Observer

Hongjun Yang1* and Jinkun Liu2

1Insititute of Automation Chinese Academy of Sciences, Beijing, China


Abstract

The issue of output constraints is studied for a flexible-link beam in the presence of unknown

spatially distributed disturbances. The dynamic of the beam is expressed by partial differential

equations. On account of the uncertainty of disturbances, we present a disturbance observer to

estimate infinite-dimensional disturbances on the beam. The observer is proven exponentially stable.

Considering the problem of output constraints in the practical engineering, we propose a novel

distributed vibration controller based on the disturbance observer to fulfill the position regulation of

the joint angle and suppress elastic deflections on the flexible beam while confining the regulating

errors of output in a suitable scope that we can assign. The closed-loop system is demonstrated

exponentially stable based on an integral-barrier Lyapunov function. Simulations validate the

effectiveness of the design scheme.

Keywords: flexible beam, disturbance observer, partial differential equation, output constraint

Date post:	16-Mar-2020
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