Pub Date : 2011-06-10DOI: 10.1109/CSAE.2011.5952642
Xiuzhi Li, S. Jia, Wei Cui, Jinhui Fan, Jinbo Sheng
This paper presents an efficient map building technique for indoor mobile robot navigation based on laser range finder and binocular stereo vision sensors. To effectively incorporate different sensors and deal with measurement uncertainty involved in environment perception, this article presents a local map integration approach in which Bayesian filter based dynamic occupancy grid map modeling techniques are employed. The adopted method is discussed in the context of mobile robot Simultaneous Localization and Map-Building (SLAM). In SLAM routine, the integrated local map is utilized as observation input, and Rao-Blackwellized Particle Filter (RBPF) is used for refining location estimation and generating accurate global map. Advantages of our proposal are validated by real experimental results carried on Pioneer robot.
{"title":"Consistent Map Building by a mobile robot euipped with stereo sensor and lrf","authors":"Xiuzhi Li, S. Jia, Wei Cui, Jinhui Fan, Jinbo Sheng","doi":"10.1109/CSAE.2011.5952642","DOIUrl":"https://doi.org/10.1109/CSAE.2011.5952642","url":null,"abstract":"This paper presents an efficient map building technique for indoor mobile robot navigation based on laser range finder and binocular stereo vision sensors. To effectively incorporate different sensors and deal with measurement uncertainty involved in environment perception, this article presents a local map integration approach in which Bayesian filter based dynamic occupancy grid map modeling techniques are employed. The adopted method is discussed in the context of mobile robot Simultaneous Localization and Map-Building (SLAM). In SLAM routine, the integrated local map is utilized as observation input, and Rao-Blackwellized Particle Filter (RBPF) is used for refining location estimation and generating accurate global map. Advantages of our proposal are validated by real experimental results carried on Pioneer robot.","PeriodicalId":138215,"journal":{"name":"2011 IEEE International Conference on Computer Science and Automation Engineering","volume":"66 3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-06-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128481003","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 : 2011-06-10DOI: 10.1109/CSAE.2011.5952734
X. Qin
On the base of analyzing the disadvantages of the negative selection algorithm, a bidirectional selection algorithm based on artificial immune system is presented. Clone selection and mutation algorithms are used on the training sample set to obtain mature antibody set. Then the mature antibody set can be used to classify the remote sensing image. It is demonstrated that this algorithm is superior to conventional maximum likelihood classification. Its accuracy reaches 87.4 percent.
{"title":"Study on remote sensing image classification based on artificial immune system","authors":"X. Qin","doi":"10.1109/CSAE.2011.5952734","DOIUrl":"https://doi.org/10.1109/CSAE.2011.5952734","url":null,"abstract":"On the base of analyzing the disadvantages of the negative selection algorithm, a bidirectional selection algorithm based on artificial immune system is presented. Clone selection and mutation algorithms are used on the training sample set to obtain mature antibody set. Then the mature antibody set can be used to classify the remote sensing image. It is demonstrated that this algorithm is superior to conventional maximum likelihood classification. Its accuracy reaches 87.4 percent.","PeriodicalId":138215,"journal":{"name":"2011 IEEE International Conference on Computer Science and Automation Engineering","volume":"156 3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-06-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128748155","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 : 2011-06-10DOI: 10.1109/CSAE.2011.5953178
Alex Roney Mathew, A. A. Hajj, Ahmed Al Abri
Human-Computer Interaction (HCI) is the design and implementation of interactive computing systems that users can interact with. It includes desktop systems as well as embedded systems in different devices. Success of a technology simply results from the easiness with which the user can interact with it. If the interface is poor or hard to use then the user will simply ignore the product or the technology. A simple and easy way to use a system doesn't mean that a simple technology is behind such a system, on the contrary, a well advanced technology needed to build it. The most important concepts in HCI are functionality and usability. Services provided usually by a system are called functions. Usability is when a user utilizes the system's functions easily, properly and clearly. Functionality and usability may vary from one system to another. A system is said to be successful if there is a balance between both functionality and usability. In this paper we will look at existing HCI and the recent advances in the field.
{"title":"Human-Computer Interaction (HCI): An overview","authors":"Alex Roney Mathew, A. A. Hajj, Ahmed Al Abri","doi":"10.1109/CSAE.2011.5953178","DOIUrl":"https://doi.org/10.1109/CSAE.2011.5953178","url":null,"abstract":"Human-Computer Interaction (HCI) is the design and implementation of interactive computing systems that users can interact with. It includes desktop systems as well as embedded systems in different devices. Success of a technology simply results from the easiness with which the user can interact with it. If the interface is poor or hard to use then the user will simply ignore the product or the technology. A simple and easy way to use a system doesn't mean that a simple technology is behind such a system, on the contrary, a well advanced technology needed to build it. The most important concepts in HCI are functionality and usability. Services provided usually by a system are called functions. Usability is when a user utilizes the system's functions easily, properly and clearly. Functionality and usability may vary from one system to another. A system is said to be successful if there is a balance between both functionality and usability. In this paper we will look at existing HCI and the recent advances in the field.","PeriodicalId":138215,"journal":{"name":"2011 IEEE International Conference on Computer Science and Automation Engineering","volume":"100 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-06-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128794670","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 : 2011-06-10DOI: 10.1109/CSAE.2011.5952892
Linfeng Yuan
Heterogeneous wireless network interconnection is one of the hot points of the current research. A novel interconnection strategy based on IP switching is put forward in this paper. The core modules are discussed seriously. And two interconnection methods, IP encapsulation and IP mapping, are proved effectiveness through the simulation results.
{"title":"A heterogeneous wireless network interconnection strategy based on IP switching","authors":"Linfeng Yuan","doi":"10.1109/CSAE.2011.5952892","DOIUrl":"https://doi.org/10.1109/CSAE.2011.5952892","url":null,"abstract":"Heterogeneous wireless network interconnection is one of the hot points of the current research. A novel interconnection strategy based on IP switching is put forward in this paper. The core modules are discussed seriously. And two interconnection methods, IP encapsulation and IP mapping, are proved effectiveness through the simulation results.","PeriodicalId":138215,"journal":{"name":"2011 IEEE International Conference on Computer Science and Automation Engineering","volume":"78 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-06-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128596611","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 : 2011-06-10DOI: 10.1109/CSAE.2011.5952470
Guanghui Xie, M. Jin, Deming Wu, M. Hashimoto
In order to realize the synchronization of motions, a controller based on online update design of dynamics is proposed for the control of physical human-robot interaction(pHRI) in this paper. Firstly, by using polynomial expression approximation design, dynamics system with arbitrary attractor in controller can have the self-oscillation characteristic. Secondly, by using online update design, dynamics system can have synchronization characteristic for in-out signal. And the degree of synchronization can be adjusted with oblivion parameter and weighted parameter in dynamics. Finally, based on 7 DOF robot arm, experiment is implemented for human-robot handshaking by using this controller, and experimental results indicate the controller's validity.
{"title":"Control for physical human-robot interaction based on online update of dynamics","authors":"Guanghui Xie, M. Jin, Deming Wu, M. Hashimoto","doi":"10.1109/CSAE.2011.5952470","DOIUrl":"https://doi.org/10.1109/CSAE.2011.5952470","url":null,"abstract":"In order to realize the synchronization of motions, a controller based on online update design of dynamics is proposed for the control of physical human-robot interaction(pHRI) in this paper. Firstly, by using polynomial expression approximation design, dynamics system with arbitrary attractor in controller can have the self-oscillation characteristic. Secondly, by using online update design, dynamics system can have synchronization characteristic for in-out signal. And the degree of synchronization can be adjusted with oblivion parameter and weighted parameter in dynamics. Finally, based on 7 DOF robot arm, experiment is implemented for human-robot handshaking by using this controller, and experimental results indicate the controller's validity.","PeriodicalId":138215,"journal":{"name":"2011 IEEE International Conference on Computer Science and Automation Engineering","volume":"64 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-06-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128662457","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 : 2011-06-10DOI: 10.1109/CSAE.2011.5952748
F. Lu, Jin Li
The fundamental principle and considered fundamental factors of GPS precise point positioning are discussed, the experimental research show that the error of GPS precise point positioning is greater to use broadcast ephemeris, and broadcast ephemeris can obtain only the accuracy of meter level, the positioning error of Z direction is greater than X direction and Y direction to use IGS precise ephemeris to do GPS precise point positioning, the positioning accuracy has not obvious difference to use ultra-rapid ephemeris in different time to do GPS precise point positioning, and the positioning accuracy has not obvious difference to use rapid ephemeris and final ephemeris to do GPS precise point positioning, the arrangement of the accuracy from high to low is final ephemeris, rapid ephemeris, ultra-rapid ephemeris, broadcast ephemeris to three dimensional positioning, it is not necessary to prolong the observation time unlimitedly to raise the accuracy of GPS precise point positioning, the positioning error and the positioning standard deviation have the similar tendency, but they exist obvious difference, the positioning accuracy to use IGS final ephemeris to do GPS precise point positioning can obtain the level of centimeter.
{"title":"Precise point positioning study to use different IGS precise ephemeris","authors":"F. Lu, Jin Li","doi":"10.1109/CSAE.2011.5952748","DOIUrl":"https://doi.org/10.1109/CSAE.2011.5952748","url":null,"abstract":"The fundamental principle and considered fundamental factors of GPS precise point positioning are discussed, the experimental research show that the error of GPS precise point positioning is greater to use broadcast ephemeris, and broadcast ephemeris can obtain only the accuracy of meter level, the positioning error of Z direction is greater than X direction and Y direction to use IGS precise ephemeris to do GPS precise point positioning, the positioning accuracy has not obvious difference to use ultra-rapid ephemeris in different time to do GPS precise point positioning, and the positioning accuracy has not obvious difference to use rapid ephemeris and final ephemeris to do GPS precise point positioning, the arrangement of the accuracy from high to low is final ephemeris, rapid ephemeris, ultra-rapid ephemeris, broadcast ephemeris to three dimensional positioning, it is not necessary to prolong the observation time unlimitedly to raise the accuracy of GPS precise point positioning, the positioning error and the positioning standard deviation have the similar tendency, but they exist obvious difference, the positioning accuracy to use IGS final ephemeris to do GPS precise point positioning can obtain the level of centimeter.","PeriodicalId":138215,"journal":{"name":"2011 IEEE International Conference on Computer Science and Automation Engineering","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-06-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128669005","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 : 2011-06-10DOI: 10.1109/CSAE.2011.5952929
Yu-cai Dong, Jiang Tian-yuan, Z. Ling, Lin Min, Shi Hong-tao, Cai Ren-mou
In this paper, the explosive images are converted to gray level image and the interference factor in explosive is removed on the basis of fractal theories and digital graphic processing techniques. The method of box counting dimension is adopted by MATLAB to calculate the fractal dimension of the explosive images. The changes of fractal dimension at various moments are studied, and the change law is thus inferred, which lays the foundation for building explosive models.
{"title":"The analysis of explosive image characteristics based on the fractal dimension of gray level image","authors":"Yu-cai Dong, Jiang Tian-yuan, Z. Ling, Lin Min, Shi Hong-tao, Cai Ren-mou","doi":"10.1109/CSAE.2011.5952929","DOIUrl":"https://doi.org/10.1109/CSAE.2011.5952929","url":null,"abstract":"In this paper, the explosive images are converted to gray level image and the interference factor in explosive is removed on the basis of fractal theories and digital graphic processing techniques. The method of box counting dimension is adopted by MATLAB to calculate the fractal dimension of the explosive images. The changes of fractal dimension at various moments are studied, and the change law is thus inferred, which lays the foundation for building explosive models.","PeriodicalId":138215,"journal":{"name":"2011 IEEE International Conference on Computer Science and Automation Engineering","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-06-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124685062","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 : 2011-06-10DOI: 10.1109/CSAE.2011.5953173
Jia Song-hao, Yang Cai, Tian Yan, Zhang Hai-yu
The mutation probability for the current best particle is determined by two factors: the varrance of the population's fitness and the current optimal solution, discrete degree is used as index to the measure of population diversity, this paper proposes an algorithm of adaptive many mutation and discrete degrees. Discrete degree can associate itself with the parameters relevant to algorithm and can reflect the current state of population distribution in a better way, good performance of the algorithm is ensured in theory. The experimental results show that the new algorithm of global search capability not only has improved significantly, has an optimal convergence rate, but also can avoid the premature convergence problem effectively, and theory analysis show that it is feasible and availability.
{"title":"Particle swarm optimization based on adaptive many mutation and discrete degree","authors":"Jia Song-hao, Yang Cai, Tian Yan, Zhang Hai-yu","doi":"10.1109/CSAE.2011.5953173","DOIUrl":"https://doi.org/10.1109/CSAE.2011.5953173","url":null,"abstract":"The mutation probability for the current best particle is determined by two factors: the varrance of the population's fitness and the current optimal solution, discrete degree is used as index to the measure of population diversity, this paper proposes an algorithm of adaptive many mutation and discrete degrees. Discrete degree can associate itself with the parameters relevant to algorithm and can reflect the current state of population distribution in a better way, good performance of the algorithm is ensured in theory. The experimental results show that the new algorithm of global search capability not only has improved significantly, has an optimal convergence rate, but also can avoid the premature convergence problem effectively, and theory analysis show that it is feasible and availability.","PeriodicalId":138215,"journal":{"name":"2011 IEEE International Conference on Computer Science and Automation Engineering","volume":"55 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-06-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129737135","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 : 2011-06-10DOI: 10.1109/CSAE.2011.5953159
M. Jun
The district collaborative design is an advanced design organization mode. The problem of definition and expression of correlation in collaborative design is aimed. The organization characteristics are analyzed based on district collaborative design space. The connection relationship acyclic graph which includes connection semantics is achieved and the relationship specialty and connection mode are explained. The algorithm is proposed to solve correlation for district collaborative design by use of correlation information model, and the correlation management model based on PDM is illustrated. Finally, a case study is conducted to prove these theory and method.
{"title":"Research on district collaborative design based on relation expression","authors":"M. Jun","doi":"10.1109/CSAE.2011.5953159","DOIUrl":"https://doi.org/10.1109/CSAE.2011.5953159","url":null,"abstract":"The district collaborative design is an advanced design organization mode. The problem of definition and expression of correlation in collaborative design is aimed. The organization characteristics are analyzed based on district collaborative design space. The connection relationship acyclic graph which includes connection semantics is achieved and the relationship specialty and connection mode are explained. The algorithm is proposed to solve correlation for district collaborative design by use of correlation information model, and the correlation management model based on PDM is illustrated. Finally, a case study is conducted to prove these theory and method.","PeriodicalId":138215,"journal":{"name":"2011 IEEE International Conference on Computer Science and Automation Engineering","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-06-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129799472","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 : 2011-06-10DOI: 10.1109/CSAE.2011.5952416
Oral Alan, N. Erdogan
Understanding thread behavior makes multi-threaded programming easier. Thread behavior can be observed by calculating metrics that are driven from thread state changes and time durations spent in those states. This paper presents the design and implementation of a new thread profiler that builds on aspect-oriented programming (AOP) approach and its use on multi-threaded applications. The new profiler differs from existing profilers in that it adopts a metrics based approach, calculating certain metrics for threads profiled. Also presented is a method to retrieve exact time information at the machine level from the JVM context. The paper concludes with a description of results obtained for thread profiling and metric calculations and a comparison of the overhead the profiler introduces with that of other profilers.
{"title":"Metrics-based analysis of thread behavior using an aspect-oriented programming approach","authors":"Oral Alan, N. Erdogan","doi":"10.1109/CSAE.2011.5952416","DOIUrl":"https://doi.org/10.1109/CSAE.2011.5952416","url":null,"abstract":"Understanding thread behavior makes multi-threaded programming easier. Thread behavior can be observed by calculating metrics that are driven from thread state changes and time durations spent in those states. This paper presents the design and implementation of a new thread profiler that builds on aspect-oriented programming (AOP) approach and its use on multi-threaded applications. The new profiler differs from existing profilers in that it adopts a metrics based approach, calculating certain metrics for threads profiled. Also presented is a method to retrieve exact time information at the machine level from the JVM context. The paper concludes with a description of results obtained for thread profiling and metric calculations and a comparison of the overhead the profiler introduces with that of other profilers.","PeriodicalId":138215,"journal":{"name":"2011 IEEE International Conference on Computer Science and Automation Engineering","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-06-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130337700","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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