In the progress of improving the safety of a vehicle while driving, multi-sensor environmental perception has many advantages compared with other approaches. This paper is devoted to proving that multi-sensor information fusion that is used on a vehicle can help identify and eliminate the spurious data, which is obtained from multi-sensors, based on Bayesian approach. And it is one of the most important but simple approaches in the information fusion field. The results of the simulation show that centralized sensor fusion scheme using Bayesian approach has higher efficiency compared with other methods.
{"title":"Multi-sensor environmental perception and information fusion for vehicle safety","authors":"Yanjun Li, Zutao Zhang, Dianyuan Luo, Guanjun Meng","doi":"10.1109/ICINFA.2015.7279770","DOIUrl":"https://doi.org/10.1109/ICINFA.2015.7279770","url":null,"abstract":"In the progress of improving the safety of a vehicle while driving, multi-sensor environmental perception has many advantages compared with other approaches. This paper is devoted to proving that multi-sensor information fusion that is used on a vehicle can help identify and eliminate the spurious data, which is obtained from multi-sensors, based on Bayesian approach. And it is one of the most important but simple approaches in the information fusion field. The results of the simulation show that centralized sensor fusion scheme using Bayesian approach has higher efficiency compared with other methods.","PeriodicalId":186975,"journal":{"name":"2015 IEEE International Conference on Information and Automation","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131163479","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 : 2015-10-01DOI: 10.1109/ICINFA.2015.7279284
Maobin Lu, Jie Huang
In this paper, we study the cooperative global robust output regulation problem for unity relative degree nonlinear multi-agent systems in normal form with a non- linear leader system. The same problem was studied recently under the assumptions that the leader system is linear and the communication network is undirected. By employing a distributed nonlinear internal model, we will construct a control law that accommodates nonlinear leader systems, and directed communication networks. Our result will be illustrated by an example with the well known Van der Pol osicllator as the leader system.
{"title":"Cooperative robust output regulation for nonlinear multi-agent systems with unity relative degree subject to a nonlinear leader","authors":"Maobin Lu, Jie Huang","doi":"10.1109/ICINFA.2015.7279284","DOIUrl":"https://doi.org/10.1109/ICINFA.2015.7279284","url":null,"abstract":"In this paper, we study the cooperative global robust output regulation problem for unity relative degree nonlinear multi-agent systems in normal form with a non- linear leader system. The same problem was studied recently under the assumptions that the leader system is linear and the communication network is undirected. By employing a distributed nonlinear internal model, we will construct a control law that accommodates nonlinear leader systems, and directed communication networks. Our result will be illustrated by an example with the well known Van der Pol osicllator as the leader system.","PeriodicalId":186975,"journal":{"name":"2015 IEEE International Conference on Information and Automation","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128095909","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 : 2015-10-01DOI: 10.1109/ICINFA.2015.7279492
Hang Dong, M. Cong, Dong Liu, Guifei Wang
Minimum-jerk (MJ) trajectories introduce less robot vibrations and are desirable for their smooth movement, while Minimum-distance (MD) trajectories are required to limit both the expected and unexpected paths of robot manipulators. The combination of the MJ and MD trajectories provides an effective kinematic scheme for robotic applications. An approach based on time spacing optimization is developed to find the global minimum-jerk as well as minimum-distance trajectory of a robot manipulator within joint space using cubic splines, despite the fact that the manipulator dynamics as well as the obstacle avoidance are not taken into account. Cubic splines are used in a framework which guarantees the continuity of joint displacements, velocities and accelerations. Firstly, a minimax optimization problem is formulated by respecting the boundary conditions of the splines and the MJ and MD constraints. Then, the problem is solved by genetic algorithms based on time spacing analysis. After that, a global solution of the kinematic scheme is provided. Finally, a comparison is made between our results and that of an alternative MJ planner.
{"title":"An effective technique to find a robot joint trajectory of minimum global jerk and distance","authors":"Hang Dong, M. Cong, Dong Liu, Guifei Wang","doi":"10.1109/ICINFA.2015.7279492","DOIUrl":"https://doi.org/10.1109/ICINFA.2015.7279492","url":null,"abstract":"Minimum-jerk (MJ) trajectories introduce less robot vibrations and are desirable for their smooth movement, while Minimum-distance (MD) trajectories are required to limit both the expected and unexpected paths of robot manipulators. The combination of the MJ and MD trajectories provides an effective kinematic scheme for robotic applications. An approach based on time spacing optimization is developed to find the global minimum-jerk as well as minimum-distance trajectory of a robot manipulator within joint space using cubic splines, despite the fact that the manipulator dynamics as well as the obstacle avoidance are not taken into account. Cubic splines are used in a framework which guarantees the continuity of joint displacements, velocities and accelerations. Firstly, a minimax optimization problem is formulated by respecting the boundary conditions of the splines and the MJ and MD constraints. Then, the problem is solved by genetic algorithms based on time spacing analysis. After that, a global solution of the kinematic scheme is provided. Finally, a comparison is made between our results and that of an alternative MJ planner.","PeriodicalId":186975,"journal":{"name":"2015 IEEE International Conference on Information and Automation","volume":"56 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134047435","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 : 2015-10-01DOI: 10.1109/ICINFA.2015.7279517
Hao Meng, Tongyue Zhang, Dan Zhao
Supercavitation is an emerging technology that enables underwater vehicles to reach unprecedented speed. The surface of underwater high-speed vehicle is surrounded by water vapor cavity while sailing in the water. When the tail of the underwater high-speed vehicle interacts with the cavity wall, the nonlinear planing force is produced. We analyze the forces acting on the underwater high-speed vehicle, and the longitudinal channel mathematical model of the underwater high-speed vehicle is established. In order to deal with the nonlinearity of the model, we adopt dynamic inversion to decouple the model to linear model. Finally, the optimal controller in longitudinal channel is designed to realize the depth control of the underwater high-speed vehicle. The simulation results show that the optimal controller based on dynamic inversion can effectively control the depth of the underwater high-speed vehicle.
{"title":"Optimal controller design in longitudinal channel based on dynamic inversion of an underwater high-speed vehicle","authors":"Hao Meng, Tongyue Zhang, Dan Zhao","doi":"10.1109/ICINFA.2015.7279517","DOIUrl":"https://doi.org/10.1109/ICINFA.2015.7279517","url":null,"abstract":"Supercavitation is an emerging technology that enables underwater vehicles to reach unprecedented speed. The surface of underwater high-speed vehicle is surrounded by water vapor cavity while sailing in the water. When the tail of the underwater high-speed vehicle interacts with the cavity wall, the nonlinear planing force is produced. We analyze the forces acting on the underwater high-speed vehicle, and the longitudinal channel mathematical model of the underwater high-speed vehicle is established. In order to deal with the nonlinearity of the model, we adopt dynamic inversion to decouple the model to linear model. Finally, the optimal controller in longitudinal channel is designed to realize the depth control of the underwater high-speed vehicle. The simulation results show that the optimal controller based on dynamic inversion can effectively control the depth of the underwater high-speed vehicle.","PeriodicalId":186975,"journal":{"name":"2015 IEEE International Conference on Information and Automation","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133150203","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 : 2015-10-01DOI: 10.1109/ICINFA.2015.7279407
Liquan Deng, Sipan Ye
Beidou Navigation Satellite System is one of the four major world navigation satellite systems, which is widely used in China and will be spread to the whole world in future. Thus, developing the system has great economic value and social significance. Based on the research of Beidou Navigation Satellite System theory, the article analyzes the structure of vehicles information system, designs the Web system functional architecture, implements the data tables structure design, and also points out the relation between data tables, which establishes the foundation of the detailed design of the information system.
{"title":"Vehicle information system design based on Beidou Navigation Satellite System","authors":"Liquan Deng, Sipan Ye","doi":"10.1109/ICINFA.2015.7279407","DOIUrl":"https://doi.org/10.1109/ICINFA.2015.7279407","url":null,"abstract":"Beidou Navigation Satellite System is one of the four major world navigation satellite systems, which is widely used in China and will be spread to the whole world in future. Thus, developing the system has great economic value and social significance. Based on the research of Beidou Navigation Satellite System theory, the article analyzes the structure of vehicles information system, designs the Web system functional architecture, implements the data tables structure design, and also points out the relation between data tables, which establishes the foundation of the detailed design of the information system.","PeriodicalId":186975,"journal":{"name":"2015 IEEE International Conference on Information and Automation","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122398057","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 : 2015-10-01DOI: 10.1109/ICINFA.2015.7279750
Jie Tian, Jingjing Wu, Guanglong Wang
The edge detection system is an important part of intelligent vehicles. An adaptive threshold edge detection system is proposed for traditional Sobel edge detection system cannot satisfy the demand of accuracy. The detection system includes of CMOS image sensor, FPGA, DDR2 and VGA etc. The real-time performance is good by aid of high-performance Cyclone IV GX series FPGA and DDR2. The experiment shows that the Sobel edge detection algorithm based on adaptive threshold can be realized on FPGA. And the system has the characteristics of high accuracy and excellent real-time performance.
边缘检测系统是智能汽车的重要组成部分。针对传统索贝尔边缘检测系统无法满足精度要求的问题，提出了一种自适应阈值边缘检测系统。该检测系统由CMOS图像传感器、FPGA、DDR2和VGA等组成。借助高性能Cyclone IV GX系列FPGA和DDR2实现了良好的实时性。实验表明，基于自适应阈值的Sobel边缘检测算法可以在FPGA上实现。该系统具有精度高、实时性好等特点。
{"title":"Realization of real-time sobel adaptive threshold edge detection system based on FPGA","authors":"Jie Tian, Jingjing Wu, Guanglong Wang","doi":"10.1109/ICINFA.2015.7279750","DOIUrl":"https://doi.org/10.1109/ICINFA.2015.7279750","url":null,"abstract":"The edge detection system is an important part of intelligent vehicles. An adaptive threshold edge detection system is proposed for traditional Sobel edge detection system cannot satisfy the demand of accuracy. The detection system includes of CMOS image sensor, FPGA, DDR2 and VGA etc. The real-time performance is good by aid of high-performance Cyclone IV GX series FPGA and DDR2. The experiment shows that the Sobel edge detection algorithm based on adaptive threshold can be realized on FPGA. And the system has the characteristics of high accuracy and excellent real-time performance.","PeriodicalId":186975,"journal":{"name":"2015 IEEE International Conference on Information and Automation","volume":"59 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127968275","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 : 2015-10-01DOI: 10.1109/ICINFA.2015.7279759
Hao Chen, Fei Zeng, Jun Du, Shuaijun Zhou
The paper presents optimal control modeling study for energy-saving of belt conveyor system. Given the transport operations process of bulk terminals, belt conveyor is studied. Firstly, based on the simplified energy calculation model of the belt conveyor, an objective optimization model with the aim to improve transport efficiency and reduce transportation energy consumption is established. In the model, constrains of the belt with the bulk transport capacity, velocity and time limits and the storage capacities are considered. Among them, velocity limits is achieved by dynamic analysis based on establishing finite element model. And then according to the proposed improved optimal model, the genetic algorithm is designed to solve this model. At last, the genetic algorithm is designed to verify the effectiveness of the proposed model, and experiments on MATLAB is conducted. The simulation results reveal that this method can effectively reduce energy consuming in belt transport system and improve delivery devices efficiency.
{"title":"An improved optimal model for energy-saving of belt conveyors based on genetic algorithm","authors":"Hao Chen, Fei Zeng, Jun Du, Shuaijun Zhou","doi":"10.1109/ICINFA.2015.7279759","DOIUrl":"https://doi.org/10.1109/ICINFA.2015.7279759","url":null,"abstract":"The paper presents optimal control modeling study for energy-saving of belt conveyor system. Given the transport operations process of bulk terminals, belt conveyor is studied. Firstly, based on the simplified energy calculation model of the belt conveyor, an objective optimization model with the aim to improve transport efficiency and reduce transportation energy consumption is established. In the model, constrains of the belt with the bulk transport capacity, velocity and time limits and the storage capacities are considered. Among them, velocity limits is achieved by dynamic analysis based on establishing finite element model. And then according to the proposed improved optimal model, the genetic algorithm is designed to solve this model. At last, the genetic algorithm is designed to verify the effectiveness of the proposed model, and experiments on MATLAB is conducted. The simulation results reveal that this method can effectively reduce energy consuming in belt transport system and improve delivery devices efficiency.","PeriodicalId":186975,"journal":{"name":"2015 IEEE International Conference on Information and Automation","volume":"60 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115826557","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 : 2015-10-01DOI: 10.1109/ICINFA.2015.7279706
Chongyu Pan, Tianjiang Hu, Lincheng Shen
In this paper, a Binary Robust Invariant Scalable Keypoints (BRISK) based detection is utilized to facilitate the flying unmanned aerial vehicle (UAV) localization within its autonomous landing on the runway. Specifically, two target detection algorithms are proposed and developed as the BRISK-supported approach. Dataset of images and differential GPS are recorded by a ground stereo vision guidance system. By virtue of the landing dataset, experiments are conducted then. Experimental results validate the effectiveness, in terms of efficiency and accuracy, of the proposed target localization algorithms for the fixed-wing aerial vehicle's autonomous landing.
{"title":"BRISK based target localization for fixed-wing UAV's vision-based autonomous landing","authors":"Chongyu Pan, Tianjiang Hu, Lincheng Shen","doi":"10.1109/ICINFA.2015.7279706","DOIUrl":"https://doi.org/10.1109/ICINFA.2015.7279706","url":null,"abstract":"In this paper, a Binary Robust Invariant Scalable Keypoints (BRISK) based detection is utilized to facilitate the flying unmanned aerial vehicle (UAV) localization within its autonomous landing on the runway. Specifically, two target detection algorithms are proposed and developed as the BRISK-supported approach. Dataset of images and differential GPS are recorded by a ground stereo vision guidance system. By virtue of the landing dataset, experiments are conducted then. Experimental results validate the effectiveness, in terms of efficiency and accuracy, of the proposed target localization algorithms for the fixed-wing aerial vehicle's autonomous landing.","PeriodicalId":186975,"journal":{"name":"2015 IEEE International Conference on Information and Automation","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115927937","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 : 2015-10-01DOI: 10.1109/ICINFA.2015.7279589
Yan Qiu, K. He, H. Fang, Dazhuang Zhu
Aiming at the huge market demand for automatic equipment to replace the manual jewelry processing, a multi-axis jewelry-making system is developed. This paper introduces the system with its hardware structure and software design. Then, carving spiral lines on the cylinder, sphere and ellipsoid are analyzed and realized on the jewelry-making CNC machine. Finally, four-axis interpolation algorithm is proposed for making spiral line on the ellipsoidal bead, and its interpolation precision is studied in the paper.
{"title":"Multi-axis jewelry-making system and its four-axis interpolation algorithm","authors":"Yan Qiu, K. He, H. Fang, Dazhuang Zhu","doi":"10.1109/ICINFA.2015.7279589","DOIUrl":"https://doi.org/10.1109/ICINFA.2015.7279589","url":null,"abstract":"Aiming at the huge market demand for automatic equipment to replace the manual jewelry processing, a multi-axis jewelry-making system is developed. This paper introduces the system with its hardware structure and software design. Then, carving spiral lines on the cylinder, sphere and ellipsoid are analyzed and realized on the jewelry-making CNC machine. Finally, four-axis interpolation algorithm is proposed for making spiral line on the ellipsoidal bead, and its interpolation precision is studied in the paper.","PeriodicalId":186975,"journal":{"name":"2015 IEEE International Conference on Information and Automation","volume":"19 22","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114124592","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 : 2015-10-01DOI: 10.1109/ICINFA.2015.7279308
Kangming Zhang, Hao-guang Chen, Shengming Liu, Ying Shao, Xiong Wang
Based on the vector similarity theory, a new method of multi-plan optimization is proposed in this paper. The paper discusses the optimization steps of the method in detail. Finally, an example show that the effectiveness and practicality of this method by the comparison of decision results among the vector similarity method, the TOPSIS method, the angle measure sorting method and the project method.
{"title":"Application of vector similarity method in multi-plan optimization","authors":"Kangming Zhang, Hao-guang Chen, Shengming Liu, Ying Shao, Xiong Wang","doi":"10.1109/ICINFA.2015.7279308","DOIUrl":"https://doi.org/10.1109/ICINFA.2015.7279308","url":null,"abstract":"Based on the vector similarity theory, a new method of multi-plan optimization is proposed in this paper. The paper discusses the optimization steps of the method in detail. Finally, an example show that the effectiveness and practicality of this method by the comparison of decision results among the vector similarity method, the TOPSIS method, the angle measure sorting method and the project method.","PeriodicalId":186975,"journal":{"name":"2015 IEEE International Conference on Information and Automation","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114311558","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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