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2015 IEEE International Conference on Information and Automation最新文献

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Multi-sensor environmental perception and information fusion for vehicle safety 面向车辆安全的多传感器环境感知与信息融合
Pub Date : 2015-10-01 DOI: 10.1109/ICINFA.2015.7279770
Yanjun Li, Zutao Zhang, Dianyuan Luo, Guanjun Meng
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.
在提高车辆行驶安全性的过程中,多传感器环境感知与其他方法相比具有许多优势。研究了基于贝叶斯方法的多传感器信息融合在车辆上的应用,证明了多传感器信息融合可以有效地识别和消除多传感器数据的杂散。它是信息融合领域中最重要但最简单的方法之一。仿真结果表明,采用贝叶斯方法的集中式传感器融合方案比其他方法具有更高的效率。
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引用次数: 2
Cooperative robust output regulation for nonlinear multi-agent systems with unity relative degree subject to a nonlinear leader 非线性领导下的统一关联度非线性多智能体系统的协同鲁棒输出调节
Pub Date : 2015-10-01 DOI: 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.
本文研究了具有非线性领导系统的统一相对阶非线性多智能体系统的合作全局鲁棒输出调节问题。在假设领导系统是线性的,通信网络是无向的情况下,研究了同样的问题。通过采用分布式非线性内部模型,我们将构建一个控制律,以适应非线性领导系统和定向通信网络。我们的结果将通过一个众所周知的范德波振荡器作为先导系统的例子来说明。
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引用次数: 0
An effective technique to find a robot joint trajectory of minimum global jerk and distance 一种求解机器人关节运动轨迹的有效方法
Pub Date : 2015-10-01 DOI: 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.
最小震动(MJ)轨迹引入较少的机器人振动,并希望其平滑运动,而最小距离(MD)轨迹要求限制机器人操纵器的预期和意外路径。MJ轨迹和MD轨迹的结合为机器人应用提供了一种有效的运动学方案。提出了一种基于时间间隔优化的方法,在不考虑机械臂动力学和避障的情况下,利用三次样条曲线在关节空间内求解机器人的全局最小抖动和最小距离轨迹。三次样条用于保证关节位移、速度和加速度连续性的框架中。首先,考虑样条曲线的边界条件和MJ和MD约束,构造了一个极大极小优化问题。然后,采用基于时间间隔分析的遗传算法进行求解。在此基础上,给出了运动方案的全局解。最后,将我们的结果与另一种MJ规划器的结果进行了比较。
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引用次数: 9
Optimal controller design in longitudinal channel based on dynamic inversion of an underwater high-speed vehicle 基于动态反演的水下高速航行器纵向通道最优控制器设计
Pub Date : 2015-10-01 DOI: 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.
超空泡是一项新兴技术,它可以使水下航行器达到前所未有的速度。水下高速航行器在水中航行时,其表面被水汽腔包围。水下高速航行体尾部与空腔壁相互作用时,产生非线性的平面力。分析了作用在水下高速航行器上的力,建立了水下高速航行器的纵向通道数学模型。为了处理模型的非线性,我们采用动态反演将模型解耦到线性模型。最后,设计了纵向通道最优控制器,实现了水下高速航行器的深度控制。仿真结果表明,基于动态反演的最优控制器能够有效地控制水下高速航行器的深度。
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引用次数: 0
Vehicle information system design based on Beidou Navigation Satellite System 基于北斗卫星导航系统的车载信息系统设计
Pub Date : 2015-10-01 DOI: 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.
北斗卫星导航系统是世界四大卫星导航系统之一,在中国得到广泛应用,未来将向全球推广。因此,开发该系统具有重要的经济价值和社会意义。本文在研究北斗卫星导航系统理论的基础上,分析了车载信息系统的结构,设计了Web系统的功能体系结构,实现了数据表的结构设计,指出了数据表之间的关系,为信息系统的详细设计奠定了基础。
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引用次数: 5
Realization of real-time sobel adaptive threshold edge detection system based on FPGA 基于FPGA的实时sobel自适应阈值边缘检测系统的实现
Pub Date : 2015-10-01 DOI: 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。
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引用次数: 4
An improved optimal model for energy-saving of belt conveyors based on genetic algorithm 基于遗传算法的带式输送机节能优化模型的改进
Pub Date : 2015-10-01 DOI: 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.
针对带式输送机系统的节能问题,进行了最优控制建模研究。针对散货码头的运输作业过程,对带式输送机进行了研究。首先,在简化的带式输送机能量计算模型的基础上,建立了以提高运输效率、降低运输能耗为目标的优化模型;该模型考虑了输送带的输送量约束、速度约束、时间约束以及输送带的储存量约束。其中,速度极限是在建立有限元模型的基础上进行动力学分析得出的。然后根据提出的改进优化模型,设计遗传算法求解该模型。最后,设计了遗传算法来验证所提模型的有效性,并在MATLAB上进行了实验。仿真结果表明,该方法可以有效地降低带式运输系统的能耗,提高输送装置的效率。
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引用次数: 2
BRISK based target localization for fixed-wing UAV's vision-based autonomous landing 基于BRISK的固定翼无人机视觉自主着陆目标定位
Pub Date : 2015-10-01 DOI: 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.
本文提出了一种基于二值鲁棒不变量可扩展关键点(BRISK)的检测方法,以促进无人机在跑道自主着陆过程中的定位。具体来说,本文提出并开发了两种基于brisk的目标检测算法。通过地面立体视觉制导系统记录图像和差分GPS数据集。然后利用着陆数据集进行实验。实验结果验证了所提出的固定翼飞行器自主着陆目标定位算法在效率和精度方面的有效性。
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引用次数: 9
Multi-axis jewelry-making system and its four-axis interpolation algorithm 多轴珠宝制作系统及其四轴插值算法
Pub Date : 2015-10-01 DOI: 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.
针对自动化设备取代手工珠宝加工的巨大市场需求,开发了多轴珠宝制作系统。本文介绍了该系统的硬件结构和软件设计。然后,对圆柱、球体和椭球体上的螺旋线雕刻进行了分析,并在珠宝加工数控机上实现。最后,提出了在椭球球上作螺旋线的四轴插补算法,并对其插补精度进行了研究。
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引用次数: 0
Application of vector similarity method in multi-plan optimization 向量相似法在多平面优化中的应用
Pub Date : 2015-10-01 DOI: 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.
基于向量相似理论,提出了一种新的多平面优化方法。文中详细讨论了该方法的优化步骤。最后,通过对向量相似法、TOPSIS法、角度测度排序法和项目法的决策结果进行比较,验证了该方法的有效性和实用性。
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引用次数: 1
期刊
2015 IEEE International Conference on Information and Automation
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