Pub Date : 2014-07-03DOI: 10.1109/ICMC.2014.7231683
Yanyan Wei, Shi Yan, Ling Yang, Y. Fu
In this paper, an improved median filtering algorithm is proposed for the restoration of images that are highly corrupted by salt and pepper noise. The proposed algorithm (PA) replaces the noisy pixel with the median of the already processed pixel values of the selected window, in which all the pixels are noisy, by considering two complementary processing directions. It turns out that PA can efficiently remove the salt and pepper noise when the noise level is higher than 60%. Simulation results are given to illustrate that PA can be applied to not only gray scale but also color image denoising and outperforms the existing methods in terms of the qualitative and quantitative measures of the restored image.
{"title":"An improved median filter for removing extensive salt and pepper noise","authors":"Yanyan Wei, Shi Yan, Ling Yang, Y. Fu","doi":"10.1109/ICMC.2014.7231683","DOIUrl":"https://doi.org/10.1109/ICMC.2014.7231683","url":null,"abstract":"In this paper, an improved median filtering algorithm is proposed for the restoration of images that are highly corrupted by salt and pepper noise. The proposed algorithm (PA) replaces the noisy pixel with the median of the already processed pixel values of the selected window, in which all the pixels are noisy, by considering two complementary processing directions. It turns out that PA can efficiently remove the salt and pepper noise when the noise level is higher than 60%. Simulation results are given to illustrate that PA can be applied to not only gray scale but also color image denoising and outperforms the existing methods in terms of the qualitative and quantitative measures of the restored image.","PeriodicalId":104511,"journal":{"name":"2014 International Conference on Mechatronics and Control (ICMC)","volume":"262 12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124061425","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-07-03DOI: 10.1109/ICMC.2014.7231950
W. Hao, Wei Haiping, Zhang Bochuan
A novel interest region extraction algorithm is proposed, which is based on the knowledge of target region, combined with biological vision mechanism. Depending on the knowledge of target, the algorithm preprocesses the image by applying lateral inhibition filter. Then build the saliency model of target by using structural pattern. The algorithm avoids high-dimension features calculation of pixel and its local neighborhood, therefore greatly enhances the operational speed. Otherwise, the saliency model built through target region knowledge has higher performance and is more reliable than the traditional top-down saliency calculation.
{"title":"A novel method for extracting saliency of ground target based on the knowledge of target region","authors":"W. Hao, Wei Haiping, Zhang Bochuan","doi":"10.1109/ICMC.2014.7231950","DOIUrl":"https://doi.org/10.1109/ICMC.2014.7231950","url":null,"abstract":"A novel interest region extraction algorithm is proposed, which is based on the knowledge of target region, combined with biological vision mechanism. Depending on the knowledge of target, the algorithm preprocesses the image by applying lateral inhibition filter. Then build the saliency model of target by using structural pattern. The algorithm avoids high-dimension features calculation of pixel and its local neighborhood, therefore greatly enhances the operational speed. Otherwise, the saliency model built through target region knowledge has higher performance and is more reliable than the traditional top-down saliency calculation.","PeriodicalId":104511,"journal":{"name":"2014 International Conference on Mechatronics and Control (ICMC)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124521601","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-07-03DOI: 10.1109/ICMC.2014.7231625
Yuan Chen, G. Mei, Mingyang Lv, Jun Gao
To improve the machining efficiency for the conventional 5-axis NC machining center of a centrifugal impeller, this article proposes an efficient simultaneous 3-axis NC machining approach on 5-axis NC machine instead of simultaneous 5-axis NC machining technology. On the basis of the sculptured surfaces of an impeller and its projection graphs, a rough-cut surface of the blades is separated into some unit machining regions (UMRs). The angles of the rotate and tilt of a 5-axis machine bed are calculated and immobilized in advance to support the simultaneous 3-axis NC machining of each UMR. The tool paths with the zigzag shape are generated to avoid interference and impact between the cutter and the blades of impeller based on the simultaneous 3-axis control approach on 5-axis machine bed.
{"title":"Tool path generation for efficient rough-cut machining of ruled surface impellers","authors":"Yuan Chen, G. Mei, Mingyang Lv, Jun Gao","doi":"10.1109/ICMC.2014.7231625","DOIUrl":"https://doi.org/10.1109/ICMC.2014.7231625","url":null,"abstract":"To improve the machining efficiency for the conventional 5-axis NC machining center of a centrifugal impeller, this article proposes an efficient simultaneous 3-axis NC machining approach on 5-axis NC machine instead of simultaneous 5-axis NC machining technology. On the basis of the sculptured surfaces of an impeller and its projection graphs, a rough-cut surface of the blades is separated into some unit machining regions (UMRs). The angles of the rotate and tilt of a 5-axis machine bed are calculated and immobilized in advance to support the simultaneous 3-axis NC machining of each UMR. The tool paths with the zigzag shape are generated to avoid interference and impact between the cutter and the blades of impeller based on the simultaneous 3-axis control approach on 5-axis machine bed.","PeriodicalId":104511,"journal":{"name":"2014 International Conference on Mechatronics and Control (ICMC)","volume":"125 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127744788","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-07-03DOI: 10.1109/ICMC.2014.7231585
Lindong Yu, J. Qiu
Finite-time stability (FTS) of switched linear singular systems (SLS) is studied in this article. First of all, the definition of finite-time stability for switched linear singular systems is given. Then, based on the description of the state jump by a consistency projector when the subsystem is switching from one to another, we acquire a sufficient condition for FTS of switched linear singular systems utilizing a piecewise Lyapunov function and state dependent switching law which selects the activated mode with the minimum Lyapunov function along the states trajectories. Compared with the time dependent switching law, the result is less conservation. Moreover, FTS for systems with both stable subsystems and unstable systems is investigated. Finally, two numerical examples are given to verify the effectiveness of the presented methods.
{"title":"Finite-time stability analysis for switched linear singular systems","authors":"Lindong Yu, J. Qiu","doi":"10.1109/ICMC.2014.7231585","DOIUrl":"https://doi.org/10.1109/ICMC.2014.7231585","url":null,"abstract":"Finite-time stability (FTS) of switched linear singular systems (SLS) is studied in this article. First of all, the definition of finite-time stability for switched linear singular systems is given. Then, based on the description of the state jump by a consistency projector when the subsystem is switching from one to another, we acquire a sufficient condition for FTS of switched linear singular systems utilizing a piecewise Lyapunov function and state dependent switching law which selects the activated mode with the minimum Lyapunov function along the states trajectories. Compared with the time dependent switching law, the result is less conservation. Moreover, FTS for systems with both stable subsystems and unstable systems is investigated. Finally, two numerical examples are given to verify the effectiveness of the presented methods.","PeriodicalId":104511,"journal":{"name":"2014 International Conference on Mechatronics and Control (ICMC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128785684","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-07-03DOI: 10.1109/ICMC.2014.7231853
Zhou Hu, Sun Yanqiu, Huang Hua
A measurement system based on dynamic target tracking with laser-electronic theodolites is represented in order to realize automatic spatial measurement for moving targets in large scale. The structure of the measurement system which consists of external scanning equipment and laser-electronic theodolite is proposed. The measurement model of the video camera is established by coordinate system transformation from axis to axis subsequently. Then guidance method for the theodolites using the optical axis strategy is discussed. As the track of moving targets such as industrial robot is estimated with extended Kalman filtering process, the measuring process can be realized after the targets located in the very field of the camera at last. The experimental data show that automation level and accuracy for dynamic measurement could be improved effectively with the system, no matter which style of the moving target is to be measured.
{"title":"Design of space coordinate measuring system based on dynamic target tracking","authors":"Zhou Hu, Sun Yanqiu, Huang Hua","doi":"10.1109/ICMC.2014.7231853","DOIUrl":"https://doi.org/10.1109/ICMC.2014.7231853","url":null,"abstract":"A measurement system based on dynamic target tracking with laser-electronic theodolites is represented in order to realize automatic spatial measurement for moving targets in large scale. The structure of the measurement system which consists of external scanning equipment and laser-electronic theodolite is proposed. The measurement model of the video camera is established by coordinate system transformation from axis to axis subsequently. Then guidance method for the theodolites using the optical axis strategy is discussed. As the track of moving targets such as industrial robot is estimated with extended Kalman filtering process, the measuring process can be realized after the targets located in the very field of the camera at last. The experimental data show that automation level and accuracy for dynamic measurement could be improved effectively with the system, no matter which style of the moving target is to be measured.","PeriodicalId":104511,"journal":{"name":"2014 International Conference on Mechatronics and Control (ICMC)","volume":"56 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116894415","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-07-03DOI: 10.1109/ICMC.2014.7231581
Zhu Dongfang, Wang Weihua, L. Jia, Yang Guang
For the complex spacecraft with large flexible accessories, suppressing the flexible vibration is a significant problem. Based on singular perturbation theory, the combination control method is proposed, which associates nonlinear PID controller and linear quadratic controller by dividing spacecraft dynamics equations into slow-change subsystem and quick-change subsystem. The slow-change subsystem stabilizes the attitude motion of center rigid body by adopting nonlinear PID control law; and the quick-change subsystem suppresses the vibration of flexible accessories by adopting a linear quadratic control strategy. Simulation results show that this method can guarantee the stability of the spacecraft while suppressing the vibration of flexible accessories, which significantly improves the performance of the attitude control system.
{"title":"A combination control to suppress flexible vibration of complex spacecraft","authors":"Zhu Dongfang, Wang Weihua, L. Jia, Yang Guang","doi":"10.1109/ICMC.2014.7231581","DOIUrl":"https://doi.org/10.1109/ICMC.2014.7231581","url":null,"abstract":"For the complex spacecraft with large flexible accessories, suppressing the flexible vibration is a significant problem. Based on singular perturbation theory, the combination control method is proposed, which associates nonlinear PID controller and linear quadratic controller by dividing spacecraft dynamics equations into slow-change subsystem and quick-change subsystem. The slow-change subsystem stabilizes the attitude motion of center rigid body by adopting nonlinear PID control law; and the quick-change subsystem suppresses the vibration of flexible accessories by adopting a linear quadratic control strategy. Simulation results show that this method can guarantee the stability of the spacecraft while suppressing the vibration of flexible accessories, which significantly improves the performance of the attitude control system.","PeriodicalId":104511,"journal":{"name":"2014 International Conference on Mechatronics and Control (ICMC)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116087853","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-07-03DOI: 10.1109/ICMC.2014.7231886
Jian-Hua Chen, K. Lum
This paper presents a method for solving simulation localization and mapping (SLAM) in sparse-feature environment, by adopting a concept of particle filter with multiple extended Kalman filters (EKF). Compared with common FastSLAM where each particle is a sample of one vehicle path whereas each EKF is solely a feature estimator, the proposed algorithm includes the vehicle-pose estimate in each EKF whereas the particle is a sample of vehicle motion. Thus, the proposed algorithm ensures dead reckoning in the absence of features. Map construction is based on line features which are extracted from observation of the environment. Finally, simulation results demonstrate the feasibility and performance of the proposed SLAM algorithm.
{"title":"Simultaneous localization and mapping based on particle filter for sparse environment","authors":"Jian-Hua Chen, K. Lum","doi":"10.1109/ICMC.2014.7231886","DOIUrl":"https://doi.org/10.1109/ICMC.2014.7231886","url":null,"abstract":"This paper presents a method for solving simulation localization and mapping (SLAM) in sparse-feature environment, by adopting a concept of particle filter with multiple extended Kalman filters (EKF). Compared with common FastSLAM where each particle is a sample of one vehicle path whereas each EKF is solely a feature estimator, the proposed algorithm includes the vehicle-pose estimate in each EKF whereas the particle is a sample of vehicle motion. Thus, the proposed algorithm ensures dead reckoning in the absence of features. Map construction is based on line features which are extracted from observation of the environment. Finally, simulation results demonstrate the feasibility and performance of the proposed SLAM algorithm.","PeriodicalId":104511,"journal":{"name":"2014 International Conference on Mechatronics and Control (ICMC)","volume":"145 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116184100","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-07-03DOI: 10.1109/ICMC.2014.7231615
Sumei Chu, Wangli He, Q. Han, F. Qian
This paper investigates synchronization of dynamical networks with both system delay and transmission delay by applying pinning impulsive control. Based on the comparison theorem and the theory of impulsive functional differential equations, some novel criteria are obtained, from which the proportion of pinned nodes is able to be determined. A numerical example is given to verify the effectiveness of the theoretical results.
{"title":"Pinning synchronization of delayed dynamical networks via impulsive control","authors":"Sumei Chu, Wangli He, Q. Han, F. Qian","doi":"10.1109/ICMC.2014.7231615","DOIUrl":"https://doi.org/10.1109/ICMC.2014.7231615","url":null,"abstract":"This paper investigates synchronization of dynamical networks with both system delay and transmission delay by applying pinning impulsive control. Based on the comparison theorem and the theory of impulsive functional differential equations, some novel criteria are obtained, from which the proportion of pinned nodes is able to be determined. A numerical example is given to verify the effectiveness of the theoretical results.","PeriodicalId":104511,"journal":{"name":"2014 International Conference on Mechatronics and Control (ICMC)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114762752","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-07-03DOI: 10.1109/ICMC.2014.7231913
Yi Jiang, Jialu Fan, Yewei Zhang, Lei Wang
Modern industrial manufacture tends to be networked, integrated and intelligent. With the introducing of network, unstable data transmission between different levels inevitably occurs, it further influences the stability and other performance indices of control systems. In order to study the performance indices of control systems when data dropout appears, this paper develops a network-based operational control semi-physical simulation platform. The proposed platform consists of three layers, which are operational control, process control and process layers. Especially, an operational control method for copper flotation process is thoroughly evaluated by such a platform, which provides an effective semi-physical simulation environment for further study on network-based operational control.
{"title":"An experimental study on integrated network-based operational control method","authors":"Yi Jiang, Jialu Fan, Yewei Zhang, Lei Wang","doi":"10.1109/ICMC.2014.7231913","DOIUrl":"https://doi.org/10.1109/ICMC.2014.7231913","url":null,"abstract":"Modern industrial manufacture tends to be networked, integrated and intelligent. With the introducing of network, unstable data transmission between different levels inevitably occurs, it further influences the stability and other performance indices of control systems. In order to study the performance indices of control systems when data dropout appears, this paper develops a network-based operational control semi-physical simulation platform. The proposed platform consists of three layers, which are operational control, process control and process layers. Especially, an operational control method for copper flotation process is thoroughly evaluated by such a platform, which provides an effective semi-physical simulation environment for further study on network-based operational control.","PeriodicalId":104511,"journal":{"name":"2014 International Conference on Mechatronics and Control (ICMC)","volume":"77 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127406661","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-07-03DOI: 10.1109/ICMC.2014.7231874
S. Iqbal, Xizhe Zang, Yanhe Zhu, Jie Zhao
This paper aims to present an investigation of bifurcation and chaos in a DC-DC boost converter using a discrete-time map. For a discrete-time (iterative) map of the converter, the time series plot and the bifurcation diagram were drawn. Both these nonlinear analysis tools confirmed that this power electronics circuit exhibits bifurcation patterns and chaotic dynamics. It is also demonstrated that discrete-time modeling approach is valuable in analyzing chaotic behavior. A brief literature review is also reported.
{"title":"Study of bifurcation and chaos in DC-DC boost converter using discrete-time map","authors":"S. Iqbal, Xizhe Zang, Yanhe Zhu, Jie Zhao","doi":"10.1109/ICMC.2014.7231874","DOIUrl":"https://doi.org/10.1109/ICMC.2014.7231874","url":null,"abstract":"This paper aims to present an investigation of bifurcation and chaos in a DC-DC boost converter using a discrete-time map. For a discrete-time (iterative) map of the converter, the time series plot and the bifurcation diagram were drawn. Both these nonlinear analysis tools confirmed that this power electronics circuit exhibits bifurcation patterns and chaotic dynamics. It is also demonstrated that discrete-time modeling approach is valuable in analyzing chaotic behavior. A brief literature review is also reported.","PeriodicalId":104511,"journal":{"name":"2014 International Conference on Mechatronics and Control (ICMC)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126224725","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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