Mechatronics and Automation Engineering

Mechatronics and Automation Engineering

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Proceedings of the International Conference on Mechatronics and Automation Engineering (ICMAE2016) Mechatronics and Automation Engineering Xiamen, China 22 24 April 2016 editor Jianhua Zhang North China Electric Power University, China World Scientific NEW JERSEY LONDON SINGAPORE BEIJING SHANGHAI HONG KONG TAIPEI CHENNAI TOKYO

Published by World Scientific Publishing Co. Pte. Ltd. 5 Toh Tuck Link, Singapore 596224 USA office: 27 Warren Street, Suite 401-402, Hackensack, NJ 07601 UK office: 57 Shelton Street, Covent Garden, London WC2H 9HE British Library Cataloguing-in-Publication Data A catalogue record for this book is available from the British Library. MECHATRONICS AND AUTOMATION ENGINEERING Proceedings of the International Conference on Mechatronics and Automation Engineering (ICMAE2016) Copyright 2017 by World Scientific Publishing Co. Pte. Ltd. All rights reserved. This book, or parts thereof, may not be reproduced in any form or by any means, electronic or mechanical, including photocopying, recording or any information storage and retrieval system now known or to be invented, without written permission from the publisher. For photocopying of material in this volume, please pay a copying fee through the Copyright Clearance Center, Inc., 222 Rosewood Drive, Danvers, MA 01923, USA. In this case permission to photocopy is not required from the publisher. ISBN 978-981-3208-52-0 Printed in Singapore

Preface 2016 International Conference on Mechatronics and Automation Engineering (ICMAE2016) have been successfully held in Xiamen, China, on April 22nd 24th. The conference provided the opportunity to showcase state of art research and development in Mechatronics and Automation Engineering from researchers and developers from around the world under one roof to compare notes and establish collaborative relationships. In the program, we also included keynote presentation, invited sessions and technical workshops. The ICMAE2016 received over more than 200 submissions, however, after a rigorous process of double peer review; only 64 articles are selected and complied into this proceedings, covering industrial automation and control system, intelligent mechatronics and robotics, mechanical engineering and electrical engineering and computer science. Finally, the organizing committee would like to take this opportunity to express our sincere and profound gratitude to all participants who attended the conference, as well as the program v

committee and reviewers for their hard works and efforts to ensure smooth operations of these 3 days events. Organizing Committee of ICMAE2016 Xiamen, China vi

Committees Technical Program Committee General Chair Zong-Hua Zhang, The Chair Academic Committee in School of Mechanical Engineering, Hebei University of Technology, China Co-Chair Hui-Yu Zhou, Assistant Professor, School of Electronics, Electrical Engineering and Computer Science, Queen s University Belfast, Belfast, BT3 9DT, United Kingdom Technical Program Committee AHMET H. ERTAS, Mechanical Engineering Department, Bogazici University, Istanbul, Turkey DHANESH KUMAR SAMBARIYA, Department of Electrical Engineering, Rajasthan Technical University, India Xing-Jian Jing, PhD, Member of IEEE, IEEE IES,Associate professor, Department of Mechanical Engineering, The Hong Kong Polytechnic University, Hung Hom, Kowloon vii

Wen-Li Wang, Doctor, Soochow University Yi-Dong Tan, Professor, Department of Precision Instruments, Tsinghua University, Beijing, China Ming Zhou, Associate professor, Beijing University of Civil Engineering and Architecture, School of Mechanical-electronic and Automobile Engineering, Beijing, China Mellal Mohamed Arezki, Ph.D. in Mechatronics, Associate Professor/B, Faculty of Engineering Sciences (FSI), M'Hamed Bougara University, Boumerdes, Algeria Ahmet H. ERTAS, PhD. Associate professor, Mechanical Engineering, Editor, Engineering Science and Technology, an International Journal IMRAN MEMON, Computer Engineering, M.E (Computer Engineering), Zhejiang university China Hui Yang, Ph.D, Assistant Professor, Beijing University of Posts and Telecommunications, China Fang-Jun Huang, Associate Professor, Zhongshan University. China. viii

Gui-Jie Liu, Head of Mechanical and Electrical Engineering, School of Engineering, Ocean University of China Jian-Hua Zhang, Professor, North China Electric Power University, School of Control and Computer, Changping District, Beijing, China. Wei-Gang Zhang, Professor, Ph.D., Institute of Modern Optics, Nankai University, Key laboratory of Optical Information Science and Technology, Ministry of Education, Modern Optics, College of Electronic Information and Optical Engineering, China Si-Ning Yun, Functional Materials Laboratory (FML), School of Materials & Mineral Resources, Xi'an University of Architecture and Technology, Xi'an, 710055, China i Ying-Min Yi, Professor, Xi'an University of Technology,China Zong-Hua Zhang, Professor, Ph.D. adviser, Hebei University of Technology, China Zhen-Yu Wang, Associate Professor, School of Control & Computer Engineering, North ChinaElectric Power University, Beijing, China ix

Xi-Ming Fu, Department of Computer Science and Technology, Tsinghua University, China. Tao Zhang, Associate Professor, Yanshan University, China. Yong Xia, Professor, School of Computer Science, Northwestern Polytechnical University (NPU), Executive Director, Centre for Multidisciplinary Convergence Computing (CMCC), NPU Member, Shaanxi Provincial Key Lab of Speech and Image, Information Processing (SAIIP), School of CS Building, NPU Chang an Campus, Xi'an 710129, China. Ke-Hua Guo, Associate Professor, Central South University, China. Ke Wang, Professor, Huaqiao University, China. Wei Huang, Associate Professor, HANSHAN NORMAL UNIVERSITY, College of Computer and Information Engineering, China. Zhuo-Qing Yang, Associate Professor, Shanghai Jiao Tong University, National Key Laboratory of Science & Technology on Micro/Nano Fabrication, School of Electronic Information and Electrical Engineering, SJTU No.800 Dongchuan Road, Shanghai, 200240, P.R. China x

Jing-Yu Yang, Associate professor, Faculty of Aerospace Engineering, Shenyang Aerospace University, China. Dong-Zhi Zhang, Associate professor, China University of Petroleum, China. Muhammad Naufal Bin Mansor, Faculty of Engineering Technology, Department of Electrical, Kampus Uniciti Alam, Universiti Malaysia Perlis (UniMAP),02100, Sg. Chuchuh, Padang Besar, Perlis, Malaysia xi

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Contents Preface Committees Chapter 1 Industrial Automation and Control System 1 Position Control of Switched Reluctance Planar Motor Based on Fuzzy Control... 3 H. C. Lu, G. Z. Ruan and T. F. Dou Remote-Control Slit Lamp Consultation System... 10 J. F. Chen, Y. Zhuo, Y. S. Chen, Z. G. Liu and Y. P. Chen An Agricultural Sensor Data Recovering Method Based on Matrix Completion Theory... 16 F. Liu and J. X. Liu Stability Control for the Quasilinear Wave Equations with Weak Attenuation... 21 S. X. Deng, H. E. Li and Z. J. Wang v vii The Application of CO2 Concentration Control in Central Air Conditioning System... 28 X. Y. Ji, H. P. Li, H. F. Wei and Z. H. Yu xiii

Study of PID Control Algorithm and Intelligent PID Controller... 35 Y. Chen, F. Y. Xia and B. X. Xu Robust Control Design of Underactuated Dynamical Systems with Fuzzy Uncertainty... 44 F. Y. Du and J. Huang Kalman Filtering with Self-Adaptive Measurement Noise for the Control of Chromatographic Constant Flow Pump... 52 M. M. Tan and Y. Li Design of Direct Cooling Water Supply Control System Based on Siemens S7-300 PLC... 58 J. T. Xu and H. F. Zhou Analysis on the Application of Borehole Pressure Relief Technology in Isolated Operation Surface of Tangshan Mine... 65 H. J. Liu, X. R. Meng, J. M. Wang, Y. D. Si, J. Xu, Y. Y. Wang and Z. W. Xie The Mathematical Model to Take a Comfortable Bath... 80 X. L. Wang, Z. L. Fang, S. Q. Xiong and S. Q. Ye Chapter 2 Intelligent Mechatronics and Robotics 89 Literature Review on Robot Vision Automatic Identification Knowledge-Based System Based on Knowledge-Based Engineering... 91 J. N. Gu, W. Ding, Q. Wu, Z. Y. Shang, S. X. Tang and E. A. Duodu Research on Vehicle Speed-Limit Model in Stormy Weather of Subtropical Mountain Area... 97 H. Y. Wen, M. Liu, H. W. Wang, X. C. Ruan and F. You xiv

Congestion Forecast under Joint Operations in Multi Airport... 108 X. Luo, Q. Luo, X. Y. Pei, W. Zhang, S. Liu, N. Zhou, C. Li, F. W. Xu, H. X. Zhao and X. Y. Weng A Method of Constructing Multivariate Generalized Symmetric MRA-Based Wavelets... 118 F. Ma, Z. Y. Wu and W. S. Li Simulation Analysis of Bionic Auxiliary Device for Ankle Rehabilitation Based on RecurDyn... 126 L. W. Wang, H. P. Li, X. J. Wang, W. L. Du and K. K. Song Research on Bacteria Foraging Optimization Algorithm Based on Roulette Wheel Method... 136 R. Hu and C. Zhang Variable Design Study in Human-Computer Interaction Experiment A Case Study of Eye Tracking Technology... 143 J. S. Huang, Z. W. Feng, J. Wu, W. M. Han and J. Gao Impact on Flight Delay Predictions Based on Route Network of Multi-Airport under Joint Operations in Multi Airport... 151 Q. Luo, J. B. Li, S. Tang and R. Deng Autonomic Locating of the Mobile Robot with Laser Radar... 160 H. X. Cao, J. Y. Gao, J. C. Zhao, F. Z. Zhao, Y. Liu, X. Y. Shi and C. Z. Liu An Intelligent Airdropping System of Aerial Dispersal Miniature Robots... 167 X. Y. Shi, J. Y. Gao, Y. Liu, J. C. Zhao, F. Z. Zhao, H. X. Cao and C. Z. Liu xv

Miniature Reconnaissance Robot with Air Dispersing Mode... 175 Y. Liu, J. Y. Gao, J. C. Zhao, F. Z. Zhao, X. Y. Shi, H. X. Cao and C. Z. Liu Research on the Release Device for the Reconnaissance Robot and Parachute in Air-Drop Task... 182 J. C. Zhao, J. Y. Gao, C. Q. Liu, X. Y. Shi and Y. Liu, F. Z. Zhao, H. X. Cao, C. Z. Liu and R. J. Wang Research on Driving Control Technology of a Multifunctional Elderly-Assistant & Walking-Assistant Robot... 189 Z. F. Lai, X. D. Zhang, G. Yin and Q. Zhang Camera Assisted Navigation for Planetary Rover... 196 S. A. A. Zaidi and F. Li An Automatic CD Recording Robots for Safe Data Interaction. 206 C. L. Li, G. F. Liu, X. F. Yu, C. W. Song, J. Zhao and L. Y. Li INS/RSSI Integration Indoor Robot Localization Method Based on Adaptive Extend Kalman Filter... 213 H. X. Lu and H. Zhang Impossible Differential Cryptanalysis of Midori... 221 Z. Chen and X. Y. Wang Remote-Launch Six-Wheeled Miniature Reconnaissance Robot... 230 F. Z. Zhao, J. Y. Gao, J. C. Zhao, Y. Liu, H. X. Cao, X. Y. Shi and C. Z. Liu xvi

Chapter 3 Mechanical Engineering 237 Study on the Effect of Two-Phase Flow Model on Oil Film Properties of Sliding Bearing... 239 L. L. Wang, G. X. Yin, C. J. Su and S. H. Guo Image Compression Based on Lifting Wavelet Transformation... 249 X. L. Zhou, Z. Y. Zhou and J. B. Zhao Hydro-Meteorological Collaborative Design Platform of Electrical Power Engineering... 258 Y. Zhang, L. M. Wu and X. C. Pan Parameters Identification of Micro-Cracks by the MFL Technique with BP Neural Network Improved by Genetic Algorithm... 263 Z. C. Qiu, W. M. Zhang, X. Y. Gao, R. L. Zhang and G. L. Chen Compensation of Springback Effect Based on an Overbend Prediction Model and a Force Sensor for Automatic Archwire Bending... 269 H. Deng and S. B. Liu Research on Detection Experiment for Defected Pipes Hidden Behind Thick-Walled Using Ultrasonic Circumferential Guided Waves... 277 Z. W. Han, C. Lu, K. Song, J. M. Lin and F. C. He Simulation and Application of an Acceleration and Deceleration Algorithm Based on Quartic Polynomial Profile... 284 Q. G. Wen, Z. G. Hao and K. F. Sun xvii

Rate-Dependent Hysteresis Modeling for Fast Tool Servo System Based on RBF Neural Networks... 295 X. H. Wang and G. P. Li Algorithms for Parametric Spline Interpolation and Speed Controlling in 3-Axis CNC System... 303 L. J. Chen and H. Y. Li The Class Number Estimation for Complex Dynamical Systems... 310 L. L. Guo and M. S. Wang The Spectrometer Based on the Flat-Field Aspheric Concave Grating... 318 D. H. Yu, L. Li and J. Li Analysis of Generalized Likelihood Test Method Deficiencies and Improvement for Fault Detection and Isolation of Redundant Strapdown Inertial Measurement Unit... 327 S. Ye and M. Zhang Fully Mechanized Top Caving Mining Disposed Optimization and Effectiveness Analysis Under a Protective Layer... 336 Z. B. Chang, J. Xu, X. H. Liu, W. Zheng, Z. Zhang, Z. W. Xie and P. X. Zhang Comparative Analysis on the Stability of Simplified and Complex Vehicle Models Under Crosswind... 349 Z. Zhang, F. W. Hu, F. Cao, R. B. Li, W. W. Chu and X. C. Nan Subsidence Reducing Technique by Continuously Filling Grouts into Stope Overburden Bed-Separation along the Dip... 356 K. Tian, L. Guo, P. X. Zhang, F. Q. Ma, Y. Y. Wang, Y. D. Si and Z. W. Xie xviii

Analysis of Spatial Distribution Characteristics of Concealed Karst Cave for Highway Tunnel Stability... 366 L. Yu, L. L. Wang and J. B. He Detection Technique for Dual Screw Holes Based on Morphology... 373 L. Q. Chen, J. L. Guo, X. M. Cheng and Y. Q. Chen Research on the Description and Configuration for Test Adapters... 381 J. Luo, C. Wang, X. He and Z. H. Kong Energy Consumption Analysis for Heave Compensation System of Drill String on Platform... 388 W. H. Yan, Y. Peng, H. Wu and J. W. Kang Chapter 4 Electrical Engineering and Computer Science 399 Numerical Simulations for Growth of Tumors and Therapeutic Effect Evaluations... 401 J. Z. Wang and Y. Guo The Design of State-Monitoring System for Energy-Storing Closing Spring in Circuit Breaker... 408 X. Q. Xu, S. Q. Bai, B. W. Guo, W. J. Zhou and P. F. Li Research on Patient Privacy Protection by Data Disturbance Method: K-D Tree Algorithm... 419 C. S. Wang, Z. H. Liu, X. F. Ma and Y. F. Cheng Research on Monitoring and Early Warning of the Debris Flow in Nu-Jiang Basin s Ting-Ming River... 426 H. L. Wang, C. Q. Zhou, S. H. Pan and X. Ma xix

The Research of Three-Phase Motor Protection System Based on ARM Cortex-M7... 432 J. F. Li, Y. M. Zhao, L. J. Wu and S. J. Bai Application Analysis of RTS Smoothing Filtering on the Data Post-Processing of BDS/INS Integrated Navigation... 440 H. L. Teng, Y. G. Wang and L. Wang Crack Tip Fields for Anti-Plane Interfacial Crack Between Functionally Graded and Homogeneous Piezoelectric Materials... 453 X. Chong, Y. Dai, W. H. Sun and J. W. Pan A Novel Wearable Gait Analysis System for Stroke Patients... 459 L. Q. Guo, L. Yu, J. P. Wang and D. X. Xiong A Firefighting Escape Door Lock System Based on Internet Cloud Alarming Platform... 467 J. Tang and L. L. Cheng Evolvable Hardware Experiment Based on Population Hybrid Genetic Algorithm... 472 H. H. Ran, J. Chen, S. L. Yong and X. D. Pan Physical Hardware Trojan Failure Analysis and Detection Method... 481 Y. Luo and Y. N. Wang Research on Information Acquisition and Analysis of Facial Complexion Diagnosis... 491 M. G. Ma, J. J. Yan, Y. X. Liu, T. Xiao, G. P. Liu, R. Guo and Y. Q. Wang xx

Slip Estimation Tracked Vehicles Based on Extended Kalman Filters... 497 L. Hao, G. M. Xiong and Y. X. Wang Design and Test of a Gait Detection System Based on Kinect... 503 N. Bao, B. W. Jiang, Y. Z. Li, X. N. Wang and Z. Z. Li The Analysis and Comparison of Cardiac Electric Field for Humans and Other Animals... 513 P. Lang, L. Han and Y. Li PID Stabilization of Double Integral Process with Time Delay... 522 Y. Dong Author Index 535 xxi