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2015 IEEE International Conference on Information and Automation最新文献

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Humanoid robot's omnidirectional walking 仿人机器人的全向行走
Pub Date : 2015-10-01 DOI: 10.1109/ICINFA.2015.7279317
Shixiong Wang, Mengkai Hu, Haobin Shi, Shuge Zhang, Xuesi Li, Wenyan Li
The development of humanoid robots has great advantages[1] including economically efficient, appreciation-worthy, and etc. This paper proposes an omnidirectional gait generation mode based on linear centroid motion and the cubic spline interpolation. And then, based on the ZMP stability criterion, online feedback regulation is conducted on the robots' centroid according to the positional relationship of the centroid and ZMP. The result of the simulation verifies that the method can effectively implement a fast and stable omnidirectional walk for the humanoid robots.
人形机器人的发展具有很大的优势[1],包括经济高效、值得欣赏等。提出了一种基于线性质心运动和三次样条插值的全向步态生成模式。然后,基于ZMP稳定性判据,根据质心与ZMP的位置关系,对机器人的质心进行在线反馈调节。仿真结果表明,该方法可以有效地实现仿人机器人快速稳定的全向行走。
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引用次数: 2
Design and implementation of dynamic characteristics tracking system of maglev train based on real-time target and communication interface 基于实时目标和通信接口的磁悬浮列车动态特性跟踪系统的设计与实现
Pub Date : 2015-10-01 DOI: 10.1109/ICINFA.2015.7279804
Siming Ma, Qijun Chen
The dynamic characteristics tracking system of maglev train gets speed curve and current position of the maglev train by monitoring and calculating data from traction linear motor system to ensure the maglev train be safe under any circumstances. The key to solve this problem is to make sure the system has high performance of communication and real-time computing ability. This paper gives a novel design of hardware and software implementation of the dynamic characteristics tracking system. The hardware solutions include FPGA execution device, UDP and RS485 communication interface. The software platform is finished under LabVIEW environment. It is proved that the calculation and communication of the whole system is completion within 3ms. The experimental results shows that the whole system meet requirements of real-time, stability and reliability.
磁浮列车动态特性跟踪系统通过对牵引直线电机系统数据的监测和计算,得到磁浮列车的速度曲线和当前位置,保证磁浮列车在任何情况下的安全运行。解决这一问题的关键是保证系统具有良好的通信性能和实时计算能力。本文给出了一种新的动态特性跟踪系统的硬件和软件实现设计。硬件解决方案包括FPGA执行器件、UDP和RS485通信接口。软件平台是在LabVIEW环境下完成的。实验证明,整个系统的计算和通信在3ms内完成。实验结果表明,整个系统满足实时性、稳定性和可靠性的要求。
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引用次数: 0
The designing of the state machine for multi-frequency IIR low-pass digital filter 多频IIR低通数字滤波器状态机的设计
Pub Date : 2015-10-01 DOI: 10.1109/ICINFA.2015.7279529
Pengcheng Zheng, Mingming Jiang, Mei-ping Wu, Song Li
Based on the reference model of the multiplication removal quick second-order low-pass filter and state machine implementation through timing sequence instruction, the paper proposes the designing method of the state machine for multi-frequency point IIR low-pass digital filter. Thus, it sets to meet the requirements of multi-frequency and quick filtering in the digital digital processing system. It then verifies the correctness and feasibility of the functions of filter state machine through ModelSim simulation. At last, it optimizes the performance of quick second-order low-pass filter through cascading method and realizes sound application in the silicon micro-machined gyroscope digital measurement and control system.
基于乘去快速二阶低通滤波器的参考模型和时序指令实现状态机,提出了多频点IIR低通数字滤波器状态机的设计方法。从而满足数字数字处理系统中多频、快速滤波的要求。然后通过ModelSim仿真验证了滤波器状态机功能的正确性和可行性。最后,通过级联方法优化了快速二阶低通滤波器的性能,实现了在硅微机陀螺仪数字测控系统中的良好应用。
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引用次数: 0
BP and RBF neural network in decoupling research on flexible tactile sensors 柔性触觉传感器解耦研究中的BP和RBF神经网络
Pub Date : 2015-10-01 DOI: 10.1109/ICINFA.2015.7279787
Junxiang Ding, Fang Gao, Xuan Wei, Yongping Wang, H. Pan, Yubing Wang, Yujian Ge
This paper proposes two decoupling methods for a flexible tactile sensor, improved back propagation neural network (BPNN) and radical basis function neural network (RBFNN). In the numerical experiments, the number of hidden layer nodes of the BPNN is optimized and k-fold-cross-validation (k-CV) method is also applied to construct the dataset. Information of the tactile sensor array at different scales is also used to construct the BPNN. RBFNN is applied to approach the nonlinear relationship between the deformation and the three-dimensional force of the tactile sensor numerical model built through finite element analysis. The decoupling results show that the RBFNN with high nonlinear approximation ability has good performance in decoupling three-dimensional force and satisfies both the decoupling accuracy and real-time requirements of the tactile sensor. Different white Gaussian noises (WGN) are added into the ideal model of the flexible tactile sensors. Then the modified RBFNN is applied to approximate and decouple the mapping relationship between row-column resistance with WGNs and the three-dimensional deformation. Numerical experiments demonstrate that the improved RBFNN doesn't rely on the mathematical model of the system and has good anti-noise ability and robustness.
针对柔性触觉传感器,提出了改进的反向传播神经网络(BPNN)和径向基函数神经网络(RBFNN)两种解耦方法。在数值实验中,优化了BPNN的隐层节点数,并采用k-fold交叉验证(k-CV)方法构建数据集。同时利用不同尺度下的触觉传感器阵列信息来构建bp神经网络。利用RBFNN对通过有限元分析建立的触觉传感器数值模型的变形与三维力之间的非线性关系进行求解。解耦结果表明,该神经网络具有较高的非线性逼近能力,在三维力解耦方面具有良好的性能,满足了触觉传感器的解耦精度和实时性要求。在柔性触觉传感器的理想模型中加入不同的高斯白噪声。然后利用改进的RBFNN逼近并解耦了带WGNs的行-列电阻与三维变形之间的映射关系。数值实验表明,改进的RBFNN不依赖于系统的数学模型,具有良好的抗噪能力和鲁棒性。
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引用次数: 1
Control of a heterogeneous vehicular platoon with uniform communication delay 具有均匀通信延迟的异构车辆排控制
Pub Date : 2015-10-01 DOI: 10.1109/ICINFA.2015.7279692
F. Gao, D. Dang, S. Li
Platoon driving is critical to improve safety, efficiency, and fuel economy. This paper presents a control method for heterogeneous vehicular platoons with uncertain dynamics and uniform communication delay. The requirements of string stability, robustness and tracking performance are measured by H-infinity norm and satisfied by casting into a linear fractional transformation (LFT) format. A delay-dependent linear matrix inequality (LMI) is derived to numerically solve the decentralized controllers. Many communication topologies can be covered by properly formulating the structure of LMI. The robust stability and performance of the platoon is analyzed theoretically by using a delay-dependent Lyapunov function including a linear quadratic function of states during the delay period. Simulations using a nonlinear vehicle model were conducted to demonstrate the effectiveness of the H-infinity controllers under the conditions of different vehicle mass, time constant and communication delay.
组队驾驶对于提高安全性、效率和燃油经济性至关重要。提出了一种具有不确定动态和均匀通信延迟的异构车辆队列控制方法。用h -∞范数测量了串的稳定性、鲁棒性和跟踪性能要求,并将其转换为线性分数变换(LFT)格式。导出了一个与时滞相关的线性矩阵不等式(LMI)来数值求解分散控制器。通过适当地表述LMI的结构,可以涵盖许多通信拓扑。利用包含时滞状态线性二次函数的时滞相关李雅普诺夫函数,从理论上分析了队列的鲁棒稳定性和性能。利用非线性车辆模型进行仿真,验证了h -∞控制器在不同车辆质量、时间常数和通信延迟条件下的有效性。
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引用次数: 6
Development of an ankle rehabilitation robot for ankle training 用于踝关节训练的踝关节康复机器人研制
Pub Date : 2015-10-01 DOI: 10.1109/ICINFA.2015.7279265
Chunbao Wang, Lin Wang, J. Qin, Zhengzhi Wu, L. Duan, Zhongqiu Li, Meiqun Cao, Weiguang Li, Zhijiang Lu, Mengjie Li, Yulong Wang, J. Long, Meiling Huang, Yinghong Li, Qiuhong Wang
Making use of rehabilitation robot to replace traditional therapist rehabilitation on hemiplegic rehabilitation has been a fashion trend. There are many ankle rehabilitation robots are proposed. However all of them are only focusing on providing a passive training to the patient. In this paper, we will present the frame work on designing a novel ankle robot which combines the active training with passive training together. To get the design basis, an experiment to detect the ankle physiology data is established. Additionally, an ankle rehabilitation robot with three degrees is proposed. This robot embeds force sensors and position sensors to detect the dynamic movements of the ankle. The detail design of the mechanism is introduced. The mechanical structure includes pedal parts, thigh fixing parts, base, driving unit and sensing unit. Comparing with the other ankle rehabilitation robots, this robot uses three blushless motors to direct three rotation motions directly, and the whole structure is simple and reliable. Control system is also introduced in this paper. In order to test the performance of control system, two experiments are established to test the velocity respond and positioning accuracy. Results show that the system has a nice rapidity, stability and accuracy.
利用康复机器人代替传统的治疗师进行偏瘫康复治疗已成为一种流行趋势。有许多踝关节康复机器人被提出。然而,他们都只专注于为患者提供被动的训练。本文提出了一种将主动训练与被动训练相结合的新型踝关节机器人的设计框架。为获得设计依据,建立了踝关节生理数据检测实验。此外,提出了一种三度踝关节康复机器人。这个机器人嵌入了力传感器和位置传感器来检测脚踝的动态运动。介绍了机构的详细设计。机械结构包括踏板部件、大腿固定部件、底座、驱动单元和传感单元。与其他踝关节康复机器人相比,该机器人采用三个无刷电机直接指导三个旋转运动,整体结构简单可靠。本文还对控制系统进行了介绍。为了测试控制系统的性能,建立了两个实验来测试速度响应和定位精度。结果表明,该系统具有良好的快速性、稳定性和准确性。
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引用次数: 14
Standardization on bitemporal information representation in BCDM BCDM中双时间信息表示的标准化
Pub Date : 2015-10-01 DOI: 10.1109/ICINFA.2015.7279627
Chunlei Yang, Xiangluo Wang, Mingchuan Zhang, R. Zheng, Wangyang Wei, Ying Lou
For conveniently analyzing semantic and updating data, it is urgent to unify the expression forms of bitemporal information in Bitemporal Conceptual Data Model (BCDM). In this paper, we firstly summary three typical forms about bitemporal information expression and extract temporal characteristics of entity attributes; then we present the transfer conditions between any two of the three forms and corresponding transfer methods; finally we propose a simple and unified form of bitemporal information expression and offer necessary proofs. Experimental study indicates that this unified standardization form favors the continuity and repeatability meaning of entity within the valid times, and effectively decrease the information storage space and operation response time.
为了方便语义分析和数据更新,迫切需要统一双时态概念数据模型(BCDM)中双时态信息的表达形式。本文首先总结了三种典型的双时间信息表达形式,提取了实体属性的时间特征;然后给出了三种形式中任意两种形式之间的转移条件和相应的转移方法;最后提出了一种简单统一的双时信息表达形式,并给出了必要的证明。实验研究表明,这种统一的标准化形式有利于实体在有效时间内意义的连续性和重复性,有效地减少了信息存储空间和操作响应时间。
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引用次数: 2
A probability-model-based approach to detect covert timing channel 一种基于概率模型的隐蔽时序信道检测方法
Pub Date : 2015-10-01 DOI: 10.1109/ICINFA.2015.7279440
Peng Yang, H Zhao, Zhonggui Bao
Interest of detecting covert timing channels is increasing rapidly. A lot of exploitation has been done on the construction and detection of covert timing channels over the internet. But the detection of covert timing channels is a challenging task because legitimate network traffic is so various that it's hard to detect and distinguish. The existing detection approaches are not so effective to detect the variety of covert timing channels known to security community. In this paper, we first review some typical detection methods of covert timing channels and then evaluate every approach. After that we introduce a new model-based approach to detecting various covert timing channels. Our new approach is based on the probability model that covert timing channels have different distribution from the legitimate channels. At last, we do an experiment to confirm the effectiveness of our model-based approach. The experiment result shows that our model-based approach is sensitive to the current timing channels, and is capable of detecting them in an accurate manner.
对隐蔽时序信道检测的兴趣日益增加。在internet上隐蔽时序信道的构建和检测方面已经做了大量的研究。但是隐蔽时间通道的检测是一项具有挑战性的任务,因为合法的网络流量是如此的多样化,很难检测和区分。现有的检测方法对于安全学界已知的各种隐蔽定时信道的检测效果不理想。本文首先回顾了隐蔽时序信道的几种典型检测方法,然后对每种方法进行了评价。然后,我们介绍了一种新的基于模型的方法来检测各种隐蔽时序通道。我们的新方法是基于隐蔽定时信道与合法信道具有不同分布的概率模型。最后,通过实验验证了该方法的有效性。实验结果表明,基于模型的方法对电流时序通道敏感,能够准确地检测出电流时序通道。
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引用次数: 3
Design of a one-motor tree-climbing robot 单电机爬树机器人的设计
Pub Date : 2015-10-01 DOI: 10.1109/ICINFA.2015.7279253
Yunquan Li, Michael Z. Q. Chen, Yonghua Chen, J. Lam
This paper proposes a novel tree-climbing robot called O-M-Climber, which is driven by only one motor. The climbing principle imitates the bionic climbing approach. Main features include a two-shaft linkage mechanism connected with several cam-slider devices to perform alternating movement of the claws. The claws maintain the robot on the tree, imitating the structure of climbing irons. This novel design provides a specific mechanical structure that enables the climbing motion with minimal input power. The development process of the robot is described and the motion simulation analysis results are presented. A simplified O-M-Climber prototype is also demonstrated.
本文提出了一种新型爬树机器人o - m -攀登者,该机器人仅由一个电机驱动。攀爬原理模仿仿生攀爬方法。主要特点包括一个双轴联动机构,连接多个凸轮滑块装置,实现爪的交替运动。爪子模仿攀爬铁的结构,使机器人保持在树上。这种新颖的设计提供了一种特殊的机械结构,使爬坡运动以最小的输入功率。介绍了该机器人的研制过程,并给出了运动仿真分析结果。还演示了一个简化的o - m -攀登者原型。
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引用次数: 6
Decoupled control for visual servoing with SVM-based virtual moments 基于支持向量机的虚拟力矩视觉伺服解耦控制
Pub Date : 2015-10-01 DOI: 10.1109/ICINFA.2015.7279638
Weiguang Li, Guoqiang Ye, Hao Wan, Shaohua Zheng, Zhijiang Lu
In order to improve the performance of image based visual servoing (IBVS) system, a novel moments based method with good decoupling and linearizing properties is proposed. Two virtual moments are designed to decouple the rotational motions around x-axis and y-axis of camera frame. Support vector machine regression method is proposed to learn the mapping model from four moment invariants to the virtual moments. With ESM and resolved-rate methods, the robotics IBVS controller is designed combing virtual moments and other four classical moment-combination features. Simulation results are provided to illustrate the effectiveness and optimal performance of the virtual moments and the proposed robotics IBVS controller.
为了提高基于图像的视觉伺服系统的性能,提出了一种具有良好解耦和线性化特性的基于矩量的视觉伺服方法。设计了两个虚拟力矩来解耦相机框架围绕x轴和y轴的旋转运动。提出了支持向量机回归方法来学习四矩不变量到虚矩的映射模型。采用ESM和分解速率方法,结合虚拟矩和其他四种经典矩组合特征,设计了机器人IBVS控制器。仿真结果说明了虚拟力矩和所提出的机器人IBVS控制器的有效性和最优性能。
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引用次数: 3
期刊
2015 IEEE International Conference on Information and Automation
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