Pub Date : 2006-10-01DOI: 10.1109/COASE.2006.326867
Wei Sun, Jian-Hua Zou, Xiao-Guang Fan
Parallel dynamic iteration methods for solving nonlinear differential-algebraic equations of index-2 are proposed. Convergence of the iterative schemes with particular attention to possess immanent parallel are investigated. A few numerical experiments have tested the theoretical models for index-2 DAEs problem
{"title":"Convergence of parallel dynamic iteration methods for nonlinear DAEs of index-2","authors":"Wei Sun, Jian-Hua Zou, Xiao-Guang Fan","doi":"10.1109/COASE.2006.326867","DOIUrl":"https://doi.org/10.1109/COASE.2006.326867","url":null,"abstract":"Parallel dynamic iteration methods for solving nonlinear differential-algebraic equations of index-2 are proposed. Convergence of the iterative schemes with particular attention to possess immanent parallel are investigated. A few numerical experiments have tested the theoretical models for index-2 DAEs problem","PeriodicalId":116108,"journal":{"name":"2006 IEEE International Conference on Automation Science and Engineering","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131695684","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 : 2006-10-01DOI: 10.1109/COASE.2006.326946
J. Schiff, Ken Goldberg
Our objective is to automatically track and capture photos of an intruder using a robotic pan-tilt-zoom camera. In this paper, we consider the problem of automated position estimation using a wireless network of inexpensive binary motion sensors. The challenge is to incorporate data from a network of noisy sensors that suffer from refractory periods during which they may be unresponsive. We propose an estimation method based on particle filtering, a numerical sequential Monte Carlo technique. We model sensors with conditional probability density functions and incorporate a probabilistic model of an intruder's state that utilizes velocity. We present simulation and experiments with passive infrared (PIR) motion sensors that suggest that our estimator is effective and degrades gracefully with increasing sensor refractory periods.
{"title":"Automated Intruder Tracking using Particle Filtering and a Network of Binary Motion Sensors","authors":"J. Schiff, Ken Goldberg","doi":"10.1109/COASE.2006.326946","DOIUrl":"https://doi.org/10.1109/COASE.2006.326946","url":null,"abstract":"Our objective is to automatically track and capture photos of an intruder using a robotic pan-tilt-zoom camera. In this paper, we consider the problem of automated position estimation using a wireless network of inexpensive binary motion sensors. The challenge is to incorporate data from a network of noisy sensors that suffer from refractory periods during which they may be unresponsive. We propose an estimation method based on particle filtering, a numerical sequential Monte Carlo technique. We model sensors with conditional probability density functions and incorporate a probabilistic model of an intruder's state that utilizes velocity. We present simulation and experiments with passive infrared (PIR) motion sensors that suggest that our estimator is effective and degrades gracefully with increasing sensor refractory periods.","PeriodicalId":116108,"journal":{"name":"2006 IEEE International Conference on Automation Science and Engineering","volume":"146 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124272460","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 : 2006-10-01DOI: 10.1109/COASE.2006.326927
H. Low, Jie Yang, Anjan P. Pattathil, Yonghua Zhang
Design, development, and experimental investigations of an undulating finned body system are presented for alternate means of propulsion using shape memory alloys (SMA) as actuators. The undulating waveform of the anguilliform mode was chosen as the design and development of a biomimetic undulating system. The designed body consists of three segments made of flexible polyurethane, which is actuated and controlled using shape memory alloy wires. Several iterations in design and experiments were conducted by controlling the current and frequency parameters to obtain a desired undulating segment that emulated the anguilliform wave motions. Initial design details and experimental results of the undulating segments are presented and discussed.
{"title":"Initial Prototype Design and Investigation of an Undulating Body by SMA","authors":"H. Low, Jie Yang, Anjan P. Pattathil, Yonghua Zhang","doi":"10.1109/COASE.2006.326927","DOIUrl":"https://doi.org/10.1109/COASE.2006.326927","url":null,"abstract":"Design, development, and experimental investigations of an undulating finned body system are presented for alternate means of propulsion using shape memory alloys (SMA) as actuators. The undulating waveform of the anguilliform mode was chosen as the design and development of a biomimetic undulating system. The designed body consists of three segments made of flexible polyurethane, which is actuated and controlled using shape memory alloy wires. Several iterations in design and experiments were conducted by controlling the current and frequency parameters to obtain a desired undulating segment that emulated the anguilliform wave motions. Initial design details and experimental results of the undulating segments are presented and discussed.","PeriodicalId":116108,"journal":{"name":"2006 IEEE International Conference on Automation Science and Engineering","volume":"244 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126600675","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 : 2006-10-01DOI: 10.1109/COASE.2006.326855
L. Middleton, D. Wagg, A. Bazin, J. Carter, M. Nixon
Current biometric capture methodologies were born in a laboratory environment. In this scenario you have cooperative subjects, large time capture windows, and staff to edit and mark up data as necessary. However, as biometrics moves from the laboratory these factors impinge upon the scalability of the system. In this work we developed a prototype biometric tunnel for the capture of non-contact biometrics. The system is autonomous to maximise subject throughput and self-contained to allow flexible deployment and user friendliness. Currently we deploy 8 cameras to capture the 3D motion (specifically gait) and 1 camera to capture the face of a subject. The gait and face information thus extracted can be used for subsequent biometric analysis. Interaction between the various system components is performed via the use of an agent framework. Performance analysis of the current system shows that we can currently achieve a moderate throughput of 15 subjects per hour. Additionally, analysis performed upon the biometric features extracted from a small population show them to be potent for recognition
{"title":"A smart environment for biometric capture","authors":"L. Middleton, D. Wagg, A. Bazin, J. Carter, M. Nixon","doi":"10.1109/COASE.2006.326855","DOIUrl":"https://doi.org/10.1109/COASE.2006.326855","url":null,"abstract":"Current biometric capture methodologies were born in a laboratory environment. In this scenario you have cooperative subjects, large time capture windows, and staff to edit and mark up data as necessary. However, as biometrics moves from the laboratory these factors impinge upon the scalability of the system. In this work we developed a prototype biometric tunnel for the capture of non-contact biometrics. The system is autonomous to maximise subject throughput and self-contained to allow flexible deployment and user friendliness. Currently we deploy 8 cameras to capture the 3D motion (specifically gait) and 1 camera to capture the face of a subject. The gait and face information thus extracted can be used for subsequent biometric analysis. Interaction between the various system components is performed via the use of an agent framework. Performance analysis of the current system shows that we can currently achieve a moderate throughput of 15 subjects per hour. Additionally, analysis performed upon the biometric features extracted from a small population show them to be potent for recognition","PeriodicalId":116108,"journal":{"name":"2006 IEEE International Conference on Automation Science and Engineering","volume":"2011 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114797391","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 : 2006-10-01DOI: 10.1109/COASE.2006.326898
Tong Liu, M. Wang
The paper presents a haptics system for multibody contact dynamics simulation. The purpose of the study is for fixture loading planning, which is to plan the applying force on a workpiece to move it into the fixture. The system incorporates the dynamics simulation engine with the haptics interaction. The dynamics simulation engine uses a time stepping method with Guass-Seidel algorithm for resolving the forces on multiple contacts. The haptics interaction is performed in two modes: no contact mode and contact mode. To reach the high updating rate required for haptics simulation (1 KHz), we use two computers for the simulation, and the data is exchanged through a network connection. Examples show that the system can generate a physically plausible workpiece motion and reaction force for haptics simulation
{"title":"Haptic Simulation of Multibody Contact Dynamics for Fixture Loading Planning","authors":"Tong Liu, M. Wang","doi":"10.1109/COASE.2006.326898","DOIUrl":"https://doi.org/10.1109/COASE.2006.326898","url":null,"abstract":"The paper presents a haptics system for multibody contact dynamics simulation. The purpose of the study is for fixture loading planning, which is to plan the applying force on a workpiece to move it into the fixture. The system incorporates the dynamics simulation engine with the haptics interaction. The dynamics simulation engine uses a time stepping method with Guass-Seidel algorithm for resolving the forces on multiple contacts. The haptics interaction is performed in two modes: no contact mode and contact mode. To reach the high updating rate required for haptics simulation (1 KHz), we use two computers for the simulation, and the data is exchanged through a network connection. Examples show that the system can generate a physically plausible workpiece motion and reaction force for haptics simulation","PeriodicalId":116108,"journal":{"name":"2006 IEEE International Conference on Automation Science and Engineering","volume":"163 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115411451","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 : 2006-10-01DOI: 10.1109/COASE.2006.326890
Wu Wei-wei, Ning Xuan-xi
In transport networks, especially in the case of emergency, hurried people or heavy traffic tends not to be very obedient to any law. Blocking flow is a kind of phenomenon occurring frequently in the emergency network(EN). When the network is blocked, there are various saturated flows and different flow distribution of arcs. The value of the saturated flow and its expended time from the source to the sink are important indices to evaluate the system reliability for ENs. We try to evaluate the system reliability that the saturated flow of the network is not less than the demand d and the flow capability per unit time is not less than the threshold coefficient lambda0. Based on the saturated model, we simulate the probability of the different arc flows. An algorithm based on the blocking cutset of the EN is proposed to evaluate the network reliability. Finally, A numerical example illustrates how to calculate the corresponding reliabilities for level (d,lambda0)
{"title":"Evaluation of the Reliability of Emergency Networks under Time Constraints","authors":"Wu Wei-wei, Ning Xuan-xi","doi":"10.1109/COASE.2006.326890","DOIUrl":"https://doi.org/10.1109/COASE.2006.326890","url":null,"abstract":"In transport networks, especially in the case of emergency, hurried people or heavy traffic tends not to be very obedient to any law. Blocking flow is a kind of phenomenon occurring frequently in the emergency network(EN). When the network is blocked, there are various saturated flows and different flow distribution of arcs. The value of the saturated flow and its expended time from the source to the sink are important indices to evaluate the system reliability for ENs. We try to evaluate the system reliability that the saturated flow of the network is not less than the demand d and the flow capability per unit time is not less than the threshold coefficient lambda0. Based on the saturated model, we simulate the probability of the different arc flows. An algorithm based on the blocking cutset of the EN is proposed to evaluate the network reliability. Finally, A numerical example illustrates how to calculate the corresponding reliabilities for level (d,lambda0)","PeriodicalId":116108,"journal":{"name":"2006 IEEE International Conference on Automation Science and Engineering","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129062277","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 : 2006-10-01DOI: 10.1109/COASE.2006.326961
Tao Sun, Guanghua Xu, Chunmei Zhang
The research result that correlation integral (i.e. CI) curve shows a continuous decrease of 1~2 second in CI amplitude until the advent of flow instability such as stall and surge opens a way for self-adaptive surge adjustment. However, the existing computational method of correlation integral curve is very time-consuming, which makes the promising control strategy fail to be used for real-time application. A fast algorithm of the curve computation is presented based on the concept of segmentation in this paper. The improved method is much faster than the existing one for all reduplicate computation of the number of correlated pairs is eliminated using our proposing propositions and criterions. Applying the improved method to some cases of our experiment, it is demonstrated that the correlation integral had a remarkable drop of about 0.25 order of magnitude prior to the development of surge and the elapsed time is much shorter than the requisite time of the existing method. The fast algorithm will motivate the real-time application of correlation integral curve to the control system using the value as the feedback threshold, which will extend the normal operating range of the centrifugal compressor.
{"title":"Self-adaptive Surge Adjustment based on Fast Correlation Integral Method in Centrifugal Compressors","authors":"Tao Sun, Guanghua Xu, Chunmei Zhang","doi":"10.1109/COASE.2006.326961","DOIUrl":"https://doi.org/10.1109/COASE.2006.326961","url":null,"abstract":"The research result that correlation integral (i.e. CI) curve shows a continuous decrease of 1~2 second in CI amplitude until the advent of flow instability such as stall and surge opens a way for self-adaptive surge adjustment. However, the existing computational method of correlation integral curve is very time-consuming, which makes the promising control strategy fail to be used for real-time application. A fast algorithm of the curve computation is presented based on the concept of segmentation in this paper. The improved method is much faster than the existing one for all reduplicate computation of the number of correlated pairs is eliminated using our proposing propositions and criterions. Applying the improved method to some cases of our experiment, it is demonstrated that the correlation integral had a remarkable drop of about 0.25 order of magnitude prior to the development of surge and the elapsed time is much shorter than the requisite time of the existing method. The fast algorithm will motivate the real-time application of correlation integral curve to the control system using the value as the feedback threshold, which will extend the normal operating range of the centrifugal compressor.","PeriodicalId":116108,"journal":{"name":"2006 IEEE International Conference on Automation Science and Engineering","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127787337","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 : 2006-10-01DOI: 10.1109/COASE.2006.326915
Xiangling Liu, Anrong Wang, Zhiwu Li
Elementary siphons are a special class of the strict minimal siphons (SMS), which play an important role in the deadlock prevention of Petri nets. The existing computation methods in the literature depend on the complete siphon enumeration of a net. Since the number of minimal siphons grows in general exponentially with respect to the size of a net, it is difficult to compute all the SMS. This paper proposes a fast algorithm to find a set of elementary siphons for an L-S3PR based on partial SMS from a structural perspective. We show an approach to obtain a minimal siphon from a resource circuit. The concepts of the complementary matrix and independent arcs in a resource directed graph are proposed, which are important in our method. We describe the method of computing independent arcs in details. Then an algorithm to find a set of elementary siphons for an L-S3PR is developed. Compared with the existing methods, our method is much efficient
{"title":"A fast algorithm to find a set of elementary siphons for a class of petri nets","authors":"Xiangling Liu, Anrong Wang, Zhiwu Li","doi":"10.1109/COASE.2006.326915","DOIUrl":"https://doi.org/10.1109/COASE.2006.326915","url":null,"abstract":"Elementary siphons are a special class of the strict minimal siphons (SMS), which play an important role in the deadlock prevention of Petri nets. The existing computation methods in the literature depend on the complete siphon enumeration of a net. Since the number of minimal siphons grows in general exponentially with respect to the size of a net, it is difficult to compute all the SMS. This paper proposes a fast algorithm to find a set of elementary siphons for an L-S3PR based on partial SMS from a structural perspective. We show an approach to obtain a minimal siphon from a resource circuit. The concepts of the complementary matrix and independent arcs in a resource directed graph are proposed, which are important in our method. We describe the method of computing independent arcs in details. Then an algorithm to find a set of elementary siphons for an L-S3PR is developed. Compared with the existing methods, our method is much efficient","PeriodicalId":116108,"journal":{"name":"2006 IEEE International Conference on Automation Science and Engineering","volume":"69 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116302306","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 : 2006-10-01DOI: 10.1109/COASE.2006.326879
S. M. N. Arosha Senanayake, Chong Shen, J. Chong, R. G. Sirisinghe
The system built consists of gait analysis system and gait recognition system. Gait analysis system is built attaching force sensing resistors into insole for foot analysis and wireless sensors are attached on ankle, kneecap (patella) and hip (pelvis) for lower extremity. Gait pattern recognition system is constructed using an embedded system with the capability of learning real time gait based on recurrent neural networks. In this investigation a systematic approach is undertaken to quantify the effects of varied interventions of legs and foot on the movement pattern of the lower extremity. Further, the relationship of these kinematics effects and the muscular activity of leg are analyzed. The prototype built is responsible to recognize features of orthopaedics issues of soccer players
{"title":"Instrumented Orthopaedics Analysis System","authors":"S. M. N. Arosha Senanayake, Chong Shen, J. Chong, R. G. Sirisinghe","doi":"10.1109/COASE.2006.326879","DOIUrl":"https://doi.org/10.1109/COASE.2006.326879","url":null,"abstract":"The system built consists of gait analysis system and gait recognition system. Gait analysis system is built attaching force sensing resistors into insole for foot analysis and wireless sensors are attached on ankle, kneecap (patella) and hip (pelvis) for lower extremity. Gait pattern recognition system is constructed using an embedded system with the capability of learning real time gait based on recurrent neural networks. In this investigation a systematic approach is undertaken to quantify the effects of varied interventions of legs and foot on the movement pattern of the lower extremity. Further, the relationship of these kinematics effects and the muscular activity of leg are analyzed. The prototype built is responsible to recognize features of orthopaedics issues of soccer players","PeriodicalId":116108,"journal":{"name":"2006 IEEE International Conference on Automation Science and Engineering","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123763749","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 : 2006-10-01DOI: 10.1109/COASE.2006.326857
S. Stan, R. Balan, V. Maties
In this paper a mono-objective optimum design procedure for parallel robot is outlined by using optimality criterion of workspace and numerical aspects. A mono-objective optimization problem is formulated by referring to a basic performance of parallel robots. Additional objective functions can be used to extend the proposed design procedure to more general but specific design problems. A kinematic optimization was performed to maximize the workspace of the mini parallel robot. Optimization was performed using genetic algorithms and simulated annealing
{"title":"Optimization of the workspace of PKM with 2 DOF","authors":"S. Stan, R. Balan, V. Maties","doi":"10.1109/COASE.2006.326857","DOIUrl":"https://doi.org/10.1109/COASE.2006.326857","url":null,"abstract":"In this paper a mono-objective optimum design procedure for parallel robot is outlined by using optimality criterion of workspace and numerical aspects. A mono-objective optimization problem is formulated by referring to a basic performance of parallel robots. Additional objective functions can be used to extend the proposed design procedure to more general but specific design problems. A kinematic optimization was performed to maximize the workspace of the mini parallel robot. Optimization was performed using genetic algorithms and simulated annealing","PeriodicalId":116108,"journal":{"name":"2006 IEEE International Conference on Automation Science and Engineering","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126519529","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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