2013 IEEE 3rd Annual International Conference on Cyber Technology in Automation, Control, and Intelligent Systems

(CYBER 2013)

Nanjing, China

26-29 May 2013

IEEE Catalog Number: CFP13CYB-POD ISBN: 978-1-4799-0611-6 Table of Contents

IS1: Invited Session 1: Networked Control Systems, Design & Analysis Distributed Relative Attitude Formation Control of Multi-agent Systems 1 Wenjun Song, Yiguang Hong Dynamic analysis and Synchronization For Chaotic Fractional-order System N/A Fengyun Sun, zhifeng wang Global Adaptive Disturbance Rejection for Nonlinear Multi-Stationed Control Systems 12 Dabo Xu Modeling the cell transmission model as a linear complementarity system 18 Renxin ZHONG, Fangfang YUAN, Tianlu PAN Node-to-Node Consensus of Networked Agents with General Linear Node Dynamics 24 Guanghui Wen, Wenwu Yu, Yu Zhao, Jinde Cao Towards A Reliable Aquatic-based CPS: A New Context-situation Aware Low Overhead Routing 30 Scheme F. Jiang, M. Frater

M1A: Intelligent Control Object Handling Using Autonomous Industrial Mobile Manipulator 36 Hongtai Cheng, Heping Chen, Yong Liu Output Feedback Asymptotic Stabilization of Nonholonomic Systems with Uncertainties 42 Xianfu Zhang, Chenghui Zhang, Yuzheng Wang Parameter Optimization of Rectification Tower Model 48 Qingrui Li, Ping Li Path Tracking of Unmanned Vehicle Based on Parameters Self-tuning Fuzzy Control 52 Yi Gong, Yong Liu, Zhenmin Tang Robust Model Predictive Control of Discrete-time Uncertain Linear Systems with Persistent 58 Disturbances Weilin Yang, Gang Feng Comparison principle and stability of stochastic delay impulsive systems with Poisson jump and 64 Markovian switching Xin Wang, Chuandong Li, Tingwen Huang, Xiaofeng Liao

M2A: Integrated Sensing, Communication, Computational Systems Distributed Flocking of Lagrangian Systems with Global Connectivity Maintenance 69 Yutian Mao, Lihua Dou, Hao Fang, Jie Chen An Indoor Air Duct Flow Energy Conversion System: Modeling and Experiments 75 Fei Fei, John D. Mai, Wen Jung Li An Open Platform Telepresence Robot with Natural Human Interface 81 Ha Do, Craig Mouser, Ye Gu, Sam Honarvar, Tingting Chen, Weihua Sheng Combining Prediction Methods with Cyber Information for Proactive Route Recommendation 87 Tadashi Yanagihara, Ryo Namiki, Kazunari Nawa, David Weir, Kentaro Oguchi

M2B: Localization, Navigation and Mapping I A Consistent Map Building Method Based on SURF Loop Closure Detection 92 Ming Wang, Wei Wang, Jie Xiong, Yan Li A Multi-Objective Strategy based on Frontier-based Approach and Fisher Information Matrix for 96 Autonomous Exploration Zheng Fang, Lei Zhang Adhesion-adaptive control of a novel bridge-climbing robot 102 Yong Liu, Qifan Dai, Quancai Liu Development and experiment of CSM-based industry robot servoing control system 108 Yong Liu, Dingbing Shi, Jindong Tan, Steven Skaar Efficient Frontier Detection and Management for Robot Exploration 114 P.G.C.N. Senarathne, Danwei Wang, Zhuping Wang, Qijun Chen

M2C: Electric Power Networks and Grids A Stochastic Model for Quantifying the Impact of PHEVs on a Residential Distribution Grid 120 Jun Tan, Lingfeng Wang An Approach for Reactive Power Configuration for Wind Power Base Considering The Operation 126 Risk of Power System Xu Yao, Tingting Fang, Xiaohu Li, Zheng Fu, Bolin Zhang, Yi Tang Dynamic Grouping Strategy for Active Power Control of Wind Farm 132 Li Xiang, Yang Xie, Bolin Zhang, Maosheng Ding, Zheng Fu, Yi Tang

M3A: Biomedical Applications Inverse Kinematics and Workspace Analysis of a Bio-inspired Flexible Parallel Robot 138 Bingtuan Gao, Honggang Song, Lixia Sun, Yi Tang Sports biomechanics infomation acquisition and analysis based on Miniature Inertial Measurement 144 Zeyuan Lu, Benyue Su, Guangjun Wang, Huibin Cao, Tingting Ma, Feng Shuang, Yunjian Ge Telemedicine Utilizing Integrated Microfluidic System for InsulinDetection 149 Ping Yao, Zhu Liu, Bin Liu, Lianqing Liu, Niandong Jiao, Zaili Dong, Steve Tung Wearable Navigation System for the Blind People in Dynamic Environments 153 Ya Tian, Yong Liu, Jindong Tan

M3B: Localization, Navigation and Mapping II POMDP based Robot Teaching for High Precision Assembly in Manufacturing Automation 159 Hongtai Cheng, Heping Chen, Yong Liu Research on Laser-assisted odometry of Indoor UAV with Monocular Vision 165 Xiaoyi Deng, Qinhua Zeng Road-Boundary Detecting Algorithm Based on Similarity Image 170 Xia YUAN, Lin YANG, Jian-gang RONG Route Design of the Target Drone 175 Kai Zhu, Yuming Bo, Dejin Tao, Jun Wang Vehicle Localization based on Interval Constraint Propagation Algorithms 179 Kangni Kueviakoe, Alain Lambert, Philippe Tarroux

M3C: Mobile Robots and Systems A Reliable and Efficient Routing Protocol for Underwater Acoustic Sensor Networks 185 Ping Wang, Donghao Fu, Changqing Zhao, Jianchun Xing, Qiliang Yang, Xiaofei Du Analysis on the efficiency of magnetic resonance coupling wireless charging for electric vehicles 191 Xue-hui WANG, He ZHANG, Ying-shun LIU Balance Control Strategy of Humanoid Robot Based on Stiffness Control 195 Fei Wang, Shuying Zhao, Yunlei Lu, Jing Xu Realization and Simulation of Full Hardware Vehicle Speed Estimator on FPGA 201 Fankun Meng, Xiaohua Xie, Ketian Cai, Guijun Qin Configuration of Mobile Routers to Support Reliable Communications 207 Xiangpeng Li, Jianjun Wang, Dong Sun

IS2: Invited Session 2: Advanced Control and Applications Cooperative Global Output Regulation for a Class of Nonlinear Multi-agent Systems 211 Dong Yi, Huang Jie Delayed Neighbours’ Control Input Information Based Containment Control N/A Shuai Liu, Lihua Xie, Huanshui Zhang Frequency Control of Electric Power Microgrids Using Distributed Cooperative Control of 223 Multi-agent systems Ali Bidram, Frank Lewis, Ali Davoudi, Zhihua Qu Online Learning Optimal Control for Decentralized Stabilization of Nonlinear Interconnected 229 Systems Derong Liu, Ding Wang, Hongliang Li Persistent awareness coverage with maximum coverage frequency for mobile sensor networks 235 Cheng Song, Lu Liu, Gang Feng, Yuan Fan

The autopilot design of bank-to-turn missile using mixed sensitivity H∞ optimization 241 Delin Luo, Ben. M. Chen

IS3: Invited Session 3: Advanced Motion Tracking Technologies Autonomous Navigation and 3D SLAM of Micro Aerial Vehicles (MAVs) in Cluttered Environments Jizhong Xiao Human Motion Map: Mapping Human Motion and Behavior with a Mobile Robot Zhidong Wang, Tetsuya Wada, Yuji Ogawa Image illumination processing for object recognition and tracking Yandong Tang Towards ubiquitous internet of things using inertial MEMS sensors: integration, algorithm and applications Guangyi Shi Wearable Computing with Sensor Fusion for Human Motion Tracking Guanglie Zhang

T1A: Advanced Internet of Things technologies and Applications A New Control Scheme for 4WID Electric Vehicle Using DSP and CPLD Xiaochun Xu, Guohai Liu, Qian Chen, Jing Lv, Ying Xie Determining the Minimum Scan Scope of UTop-k Queries in Uncertain Databases 247 Zhibin Zhao, Yang Yu, Yubin Bao, Ge Yu Jamming Attack on Cyber-Physical Systems: A Game-theoretic Approach 252 Yuzhe Li, Ling Shi, Peng Cheng, Jiming Chen, Daniel Quevedo Shield Yourself from Pattern Detection 258 Lan Yao, Fuxiang Gao, Ge Yu

T1B: Nonlinear Control Energy-optimal Rectilinear Trajectory for Stratospheric Airships in Constant Wind Field 264 Xing Chu, Xianwu Lin, Weiyao Lan Necessary and Sufficient Conditions for Stability of Switched Hamiltonian Systems with Multiple 270 Equilibria Liying Zhu Stability analysis of nonlinear quantized and networked control systems with various 275 communication imperfections Xi-Ming Sun, Zhong-Ping Jiang, kun-Zhi Liu, Wei Wang Stochastic stability for impulsive discrete-time Markovian jump systems with time-varying delay 281 and partly unknown transition probabilities Gai Sun, Yu Zhang

T1C: Micro/Nano/Bio Manipulation and Assembly A current assisted deposition method based on contact mode atomic force microscope 287 Zeng-Lei Liu, Nian-Dong Jiao, Lian-Qing Liu, Zhi-Dong Wang An Error Compensator Based Simplified Adaptive Inverse Control Method for IPMC Actuators 291 Tuning Lina Hao, Zhiyong Sun, Yan Xiong, Liqun Liu Theoretical and Experimental Study of Dielectrophoretic Force Controlled Nanowires Assembly 297 Quan Tao, Minlin Jiang, Guangyong Li Wafer Eccentricity Estimation with Disturbance Caused by Alignment Notch 302 Heping Chen, Hongtai Cheng, Ben Mooring, Harold Stern

T2A: Complex Systems A Bi-level Metaheuristic Approach to Designing Optimal Bus Transit Route Network 308 Fan Wei, Zegeye Gurmu, Elias Haile Active Safety Neural Network Inverse Decoupling Control for Multi-Wheel Independently Driven N/A Electric Vehicles Duo Zhang, GuoHai Liu, Guihua Sun, LongSheng Wang Complexity Analysis of General Realization Procedures for Passive Networks 314 Michael Z. Q. Chen, Kai Wang, Baozhu Du, Yun Zou Design and Implementation for Image Reconstructionof CompressiveSensing using FPGA 320 Sheng Bi, Ning Xi, King Lai, Xuwei Pan Event-based Bipartite Consensus on Signed Networks 326 Yulong Zhou, Jiangping Hu On the Combined Optimal Locations and Toll Levels Problem: Genetic Algorithm Approach 331 Michael Winkler, Wei Fan, Zegeye Gurmu

T2B: Multiagent Systems Co-operative Control Cooperative Flocking and Learning in Multi-Robot Systems for Predator Avoidance 337 Hung La, Ronny Lim, Weihua Sheng, Jiming Chen Cooperative Tracking of Uncertain Dynamical Multi-agent Systems: A Distributed MRAC Approach 343 Zhouhua Peng, Dan Wang, Hongwei Zhang, Ming Peng Limitations and improvements on potential-based connectivity preservation of multi-agent systems 349 Yuan Fan, Cheng Song Modeling and Sliding Mode Control of the Cart-ball System N/A Wang Wei, Guo Yuanbo, Zhang Xiaohua Semiautonomous Industrial Mobile Manipulation for Industrial Applications 361 Heping Chen, Hongtai Cheng, Biao Zhang, Jianjun Wang, Tom Fuhlbrigge, Jian Liu

T2C: Advanced Sensing and Control An Improved Attitude Information Fusion Algorithm Based on Particle Filtering 367 Meng Lin, Dezhi Chen, Sheng Bi, Wentao Chen, Wenbin Yao, Quanyong Huang, Xiao Zeng Dynamics and Energy-based Control of TORA System on a Slope 373 Bingtuan Gao, Honggang Song, Jianguo Zhao, Chengya Gong General Swing-up Methodology for the Vertical Three-link Underactuated Manipulator 379 Hongtai Cheng, Heping Chen, Bingtuan Gao, Xiaohua Zhang Measurement and Analysis of Braille Stimulus to Brain Using an EEG: A Preliminary Study 385 Claire Shelton, Yudong Luo, Yantao Shen Motion planning by adding geometric constraint of roadside to beam curvature method 390 Chaoxia Shi, Tianheng Liu, Zhenmin Tang Depth Measurement by Omni-directional Camera 396 Tong Jia

T3A: Robot Sensing and Data Fusion Adaptive Block-Fusion Multiple Feature Tracking in a Particle Filter Framework 400 Mingfeng Yin, Yuming Bo, Gaopeng Zhao, Weijun Zou Federated Kalman Consensus Filter in Distributed track fusion 405 Jiahong Li, Jie Chen, Chen Chen, Fang Deng Driver Drowsiness Estimation by Fusion of Lane and Eye Features Using a Multilevel Evidence 411 Theory Xuanpeng Li, Emmanuel Seignez, Pierre Loonis Real-time Structure-light-based 3D Terrain Sensing for Mobile Robot Using CUDA 417 Quanyong Huang, Xiao Zeng, Sheng Bi, Min Dong, Xuwei Pan, Huaqing Min

T3B: Energy, Power and Communication Systems A Closed-Loop Home Energy Automation System via Power Provisioning 423 Naveen Nalajala, Heping Chen, Tongdan Jin An approach for structured light system calibration 428 Huafen Luo, Jing Xu, Ken Chen Study on hidden failure of relay protection in power system 434 Yameng Cheng, Xiong Chen, Jianfeng Ren, Xiaoqing Xuan, Xueming Li

T3C: Advanced Cyber Technology Guidance Law Research for Autonomous Aerial Refueling of UAV 440 Wenlong Xu, Delin Luo, Lei Yang, Shunxiang Wu A searching algorithm based on Markov transition matrix in WSN 446 Pengfei Guo, Yuming Bo, Jie Zhang On Sequential Kalman Filtering With Scheduled Measurements 450 Gang Wang, Jie Chen, Jian Sun An Information Flow Security Model for Home Area Network of Smart Grid 456 Jizhou Tong, Weiqing Sun, Lingfeng Wang Investigating the Impact of Cyber Attacks on Power System Reliability 462 Yichi Zhang, Lingfeng Wang, Weiqing Sun

W1A: Advanced Cyber and Control Technologies I A Multi-FPGA Implementation of Real-Time Reconstruction Using Total Focusing Method 468 Mickael Njiki, Samir Bouaziz, Abdelhafid Elouardi, Olivier Casula, Olivier Roy Research on Cluster Performance Oriented Characteristics of Network Simulation Jing Du, Fujiang Ao, Ying Zhou, Futong Qin, Chengdong Huang Flocking Control Based on Pseudo Two-hop Consensus Algorithm with Link Failures Huanxin Peng, Wenkai Wang Flocking Control with Communication Noise Based on Pseudo Two-hop Consensus Algorithm Huanxin Peng, Wenkai Wang Product Recycling Network Design With Recovery Rate Taken Into Consideration Under Fuzzy Environment Yang Gao, Bingbing Chen A Motion Control Method of Intelligent Wheelchair Based on Hand Gesture Recognition Tao Lu

W1B: Advanced Cyber and Control Technologies II Software to encrypt messages Using chaotic cipher and its cryptanalysis Mina Mishra, V.H Mankar Output-Feedback Control of a Class of High-order Output-Feedback Control of a Class of High-order Stochastic Nonlinear Systems satisfying Power Growth Conditions Longchuan GUO, Jianwei Liu, Xin Zuo A Hierarchical Optimization and control for Minimizing Production Cost and Energy Consumption of CSTR Aimin An The Human Role Model of Cyber Counterwork Fang Zhou The Study of Effectiveness Evaluation Methods on Immeasurable Cyber Attacks Zhiyong Lu

W1C: Advanced Cyber and Control Technologies III High-order Distributed Consensus Algorithm of Multi-agent System with Communication Noise Wenkai Wang, Huanxin Peng Identification of Acoustic Path Transfer Function Component in Beamforming Structure Jinsoo Jeong Minimum Phase Whitening Filter to Speech Beamforming Technique Jinsoo Jeong Predicting Protein Structural Classes with Autoencoder neural Networks Jianwei Liu Reinforcement Learning-Based Robust Adaptive Tracking Intelligent Control for Multi-wheeled Mobile Robot System Synchronization Luy Nguyen Tan, Thanh Nguyen Thien, Tri Hoang Minh