Pub Date : 2015-10-01DOI: 10.1109/ICINFA.2015.7279401
Erzhen Pan, Da Guan, Wenfu Xu, Bingshan Hu
Since Fukushima nuclear accident, the international society are paying more and more attention on the safety of nuclear power. The healthy monitoring is the most important means for earth warning. In this paper, we developed the control system for an intelligent monitoring robot used in nuclear power plants. The control system is actually a two-level controller, consisting of the host computer and lower computer. The host computer is a traditional PC, supplying the human-computer interface. It is also used for mission planning, control parameters setting, monitoring results processing and displaying, and so on. The lower computer is an ARM embedded controller. It is directly connected to all actuators and sensors. The real-time operation system uc/os-ii is also migrated to the ARM processor. It effectively manages the hardware resource and the multiple tasks in real time. Typical experiments verified the effectiveness and reliability.
{"title":"Control system of a small intelligent inspection robot for nuclear power plant use","authors":"Erzhen Pan, Da Guan, Wenfu Xu, Bingshan Hu","doi":"10.1109/ICINFA.2015.7279401","DOIUrl":"https://doi.org/10.1109/ICINFA.2015.7279401","url":null,"abstract":"Since Fukushima nuclear accident, the international society are paying more and more attention on the safety of nuclear power. The healthy monitoring is the most important means for earth warning. In this paper, we developed the control system for an intelligent monitoring robot used in nuclear power plants. The control system is actually a two-level controller, consisting of the host computer and lower computer. The host computer is a traditional PC, supplying the human-computer interface. It is also used for mission planning, control parameters setting, monitoring results processing and displaying, and so on. The lower computer is an ARM embedded controller. It is directly connected to all actuators and sensors. The real-time operation system uc/os-ii is also migrated to the ARM processor. It effectively manages the hardware resource and the multiple tasks in real time. Typical experiments verified the effectiveness and reliability.","PeriodicalId":186975,"journal":{"name":"2015 IEEE International Conference on Information and Automation","volume":"92 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":"134236879","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.2015.7279548
Jiayi Wu, J. Xin, Nanning Zheng
In the view of the characteristic of the imbalanced microanuerysm candidate datasets: a large number of negative samples, the different distributions of different classes and the irrelevant features exacted from each candidate for learning task, this paper proposes a feature selection algorithm that we selected the top features out of all features that were ranked in the increasing order of feature weights generated by Gini index, and then a modified SVM classifier is used to divide the microanuerysm candidates into two groups: true microaneurysms and false microaneurysms. The experiment on the training set of a publicly available database shows that the proposed new method has the best performance including the best free-response receiver operating characteristic (FROC) curve. Furthermore the proposed method based on top features selected by feature Gini index outperforms over all features.
{"title":"SVM learning from imbalanced microanuerysm candidate datasets used feature selection by gini index","authors":"Jiayi Wu, J. Xin, Nanning Zheng","doi":"10.1109/ICINFA.2015.7279548","DOIUrl":"https://doi.org/10.1109/ICINFA.2015.7279548","url":null,"abstract":"In the view of the characteristic of the imbalanced microanuerysm candidate datasets: a large number of negative samples, the different distributions of different classes and the irrelevant features exacted from each candidate for learning task, this paper proposes a feature selection algorithm that we selected the top features out of all features that were ranked in the increasing order of feature weights generated by Gini index, and then a modified SVM classifier is used to divide the microanuerysm candidates into two groups: true microaneurysms and false microaneurysms. The experiment on the training set of a publicly available database shows that the proposed new method has the best performance including the best free-response receiver operating characteristic (FROC) curve. Furthermore the proposed method based on top features selected by feature Gini index outperforms over all features.","PeriodicalId":186975,"journal":{"name":"2015 IEEE International Conference on Information and Automation","volume":"26 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":"134326897","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.2015.7279823
Yi-Rui Tang, Yangmin Li
This paper presents a systematic and comprehensive modeling approach for the derivation of a nonlinear dynamic model of a unmanned aerial vehicle (UAV) quadrotor. The model incorporates a couple of significant aerodynamic effects impacting on the quadrotor flight in different regimes. The controller is accordingly designed to accommodate both specific and uncertain dynamics of the quadrotor. The control laws of linear quadratic regulator (LQR) coupled with sliding mode control (SMC) are applied to the controller design so as to perform the optimal and robust control of the vehicle. The experimental results demonstrate the designed control algorithms are capable of delivering an remarkable performance on tracking of the reference input signals.
{"title":"Dynamic modeling for high-performance controller design of a UAV quadrotor","authors":"Yi-Rui Tang, Yangmin Li","doi":"10.1109/ICINFA.2015.7279823","DOIUrl":"https://doi.org/10.1109/ICINFA.2015.7279823","url":null,"abstract":"This paper presents a systematic and comprehensive modeling approach for the derivation of a nonlinear dynamic model of a unmanned aerial vehicle (UAV) quadrotor. The model incorporates a couple of significant aerodynamic effects impacting on the quadrotor flight in different regimes. The controller is accordingly designed to accommodate both specific and uncertain dynamics of the quadrotor. The control laws of linear quadratic regulator (LQR) coupled with sliding mode control (SMC) are applied to the controller design so as to perform the optimal and robust control of the vehicle. The experimental results demonstrate the designed control algorithms are capable of delivering an remarkable performance on tracking of the reference input signals.","PeriodicalId":186975,"journal":{"name":"2015 IEEE International Conference on Information and Automation","volume":"22 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":"129136387","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.2015.7279477
Xiwei Liu
In this paper, the synchronization problem for linearly coupled complex networks is investigated, which is denoted by ordinary differential equations with complex-values. The coupling topology can be asymmetric, and the time delay also exists in the network model. By pinning some external aperiodically intermittent control on the network nodes, we will prove that under some conditions, the complete synchronization will be finally realized exponentially. Moreover, applying the adaptive technique on the coupling strength, we will also present an adaptive rule, whose validity is rigorously proved. Finally, some numerical simulations will be given to illustrate the correctness of these obtained results.
{"title":"Synchronization of delayed complex-valued networks via aperiodically intermittent pinning control","authors":"Xiwei Liu","doi":"10.1109/ICINFA.2015.7279477","DOIUrl":"https://doi.org/10.1109/ICINFA.2015.7279477","url":null,"abstract":"In this paper, the synchronization problem for linearly coupled complex networks is investigated, which is denoted by ordinary differential equations with complex-values. The coupling topology can be asymmetric, and the time delay also exists in the network model. By pinning some external aperiodically intermittent control on the network nodes, we will prove that under some conditions, the complete synchronization will be finally realized exponentially. Moreover, applying the adaptive technique on the coupling strength, we will also present an adaptive rule, whose validity is rigorously proved. Finally, some numerical simulations will be given to illustrate the correctness of these obtained results.","PeriodicalId":186975,"journal":{"name":"2015 IEEE International Conference on Information and Automation","volume":"18 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":"133660577","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.2015.7279270
Juan Luo, Yanjun Shen
In this paper, we address energy efficiency optimization of belt conveyor for material scheduling problem. First, a new model of energy efficiency of belt conveyor is proposed, which is the foundation of the optimization problems. We take hourly material consumption and bounds on storehouse capacity into account to satisfy the claims of this paper. Then, three optimization problems of a typical belt conveyor system are formulated for material scheduling under various constraints. Finally, simulation results have been presented to show the validity of the proposed method.
{"title":"Energy efficiency optimization of belt conveyor for material scheduling problem","authors":"Juan Luo, Yanjun Shen","doi":"10.1109/ICINFA.2015.7279270","DOIUrl":"https://doi.org/10.1109/ICINFA.2015.7279270","url":null,"abstract":"In this paper, we address energy efficiency optimization of belt conveyor for material scheduling problem. First, a new model of energy efficiency of belt conveyor is proposed, which is the foundation of the optimization problems. We take hourly material consumption and bounds on storehouse capacity into account to satisfy the claims of this paper. Then, three optimization problems of a typical belt conveyor system are formulated for material scheduling under various constraints. Finally, simulation results have been presented to show the validity of the proposed method.","PeriodicalId":186975,"journal":{"name":"2015 IEEE International Conference on Information and Automation","volume":"117 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":"117324117","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.2015.7279474
Zhiliang Luo, Yanjie Li, Y. Lou
Fast and accurate estimation of battery state of charge (SOC) is a key technology in the battery management system. Based on the non-linear response characteristics of lithium batteries, an adaptive Kalman filter algorithm is put forward in this paper. It is known that the battery model parameters vary with SOC, battery temperature and battery aging. Moreover, the relationship between open circuit voltage (OCV) and SOC is nonlinear. To solve these issues, a piecewise linear approximation of the model parameters is proposed based on the SOC, and then the nonlinear battery model is turned into a piecewise linear one. On these bases, an adaptive Kalman filter can be implemented and thus the amount of computation can be reduced. In addition, we apply the Arrhenius equation to update internal resistance and the remaining capacity of battery which can reflect the aging state of battery. The algorithm achieves an adaptive SOC estimation and improves the estimation accuracy with a small amount of calculation. Finally, the simulation results show the accuracy and applicability of the algorithm.
{"title":"An adaptive kalman filter to estimate state-of-charge of lithium-ion batteries","authors":"Zhiliang Luo, Yanjie Li, Y. Lou","doi":"10.1109/ICINFA.2015.7279474","DOIUrl":"https://doi.org/10.1109/ICINFA.2015.7279474","url":null,"abstract":"Fast and accurate estimation of battery state of charge (SOC) is a key technology in the battery management system. Based on the non-linear response characteristics of lithium batteries, an adaptive Kalman filter algorithm is put forward in this paper. It is known that the battery model parameters vary with SOC, battery temperature and battery aging. Moreover, the relationship between open circuit voltage (OCV) and SOC is nonlinear. To solve these issues, a piecewise linear approximation of the model parameters is proposed based on the SOC, and then the nonlinear battery model is turned into a piecewise linear one. On these bases, an adaptive Kalman filter can be implemented and thus the amount of computation can be reduced. In addition, we apply the Arrhenius equation to update internal resistance and the remaining capacity of battery which can reflect the aging state of battery. The algorithm achieves an adaptive SOC estimation and improves the estimation accuracy with a small amount of calculation. Finally, the simulation results show the accuracy and applicability of the algorithm.","PeriodicalId":186975,"journal":{"name":"2015 IEEE International Conference on Information and Automation","volume":"41 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":"123367298","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.2015.7279422
Lingxuan Zhang, Hongxia Xiong, Liangliang Han
Force feedback controller (haptic device) is the key part of a master-slave tele-operation system. It can transmit its position, orientation and velocity to remotely operate the controlled object; at the same time it can acquire information of force/torque from the remote object, and rebuild those to the operator by enabling a force sense telepresence. In this paper, a new type force feedback controller with a 6 DOF Delta parallel mechanism is presented considering the performance of easy operation and precise force feedback. Firstly, the structure and control system of the force feedback controller are introduced, then its kinematics and statics models are analyzed as well as the force feedback control scheme. Moreover, a combined simulation model is established based on “Adams” and “Simulink” to valid the performance of the force feedback controller. Simulation results demonstrate that the established kinematic model and force feedback control scheme are precise and effective, which can provide beneficial guidance for design and application of the tele-operation system.
{"title":"Design and implementation of a 6 DOF delta force feedback controller for tele-operation","authors":"Lingxuan Zhang, Hongxia Xiong, Liangliang Han","doi":"10.1109/ICINFA.2015.7279422","DOIUrl":"https://doi.org/10.1109/ICINFA.2015.7279422","url":null,"abstract":"Force feedback controller (haptic device) is the key part of a master-slave tele-operation system. It can transmit its position, orientation and velocity to remotely operate the controlled object; at the same time it can acquire information of force/torque from the remote object, and rebuild those to the operator by enabling a force sense telepresence. In this paper, a new type force feedback controller with a 6 DOF Delta parallel mechanism is presented considering the performance of easy operation and precise force feedback. Firstly, the structure and control system of the force feedback controller are introduced, then its kinematics and statics models are analyzed as well as the force feedback control scheme. Moreover, a combined simulation model is established based on “Adams” and “Simulink” to valid the performance of the force feedback controller. Simulation results demonstrate that the established kinematic model and force feedback control scheme are precise and effective, which can provide beneficial guidance for design and application of the tele-operation system.","PeriodicalId":186975,"journal":{"name":"2015 IEEE International Conference on Information and Automation","volume":"25 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":"124727210","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}
With the development of computer vision technology, many researches about feature detectors and descriptors have been published in the last decades. In order to explore what kind of approaches are appropriate for unmanned aerial vehicle (UAV) onboard video processing, the popular feature detectors and descriptors are analyzed and combined with each other. Three practical videos captured in indoor environments and outdoor environments are used to test the accuracy, runtime and robustness of these combined algorithms. Results validate that the combinations of different feature detectors and descriptors balance well the accuracy and runtime. This will provide references for choosing appropriate onboard video processing algorithms.
{"title":"Exploring the most appropriate feature detector and descriptor algorithm for on-board UAV image processing","authors":"Boxin Zhao, Tianjiang Hu, Yifeng Niu, Dengqing Tang, Zhaowei Ma, Weiwei Kong, Lincheng Shen","doi":"10.1109/ICINFA.2015.7279258","DOIUrl":"https://doi.org/10.1109/ICINFA.2015.7279258","url":null,"abstract":"With the development of computer vision technology, many researches about feature detectors and descriptors have been published in the last decades. In order to explore what kind of approaches are appropriate for unmanned aerial vehicle (UAV) onboard video processing, the popular feature detectors and descriptors are analyzed and combined with each other. Three practical videos captured in indoor environments and outdoor environments are used to test the accuracy, runtime and robustness of these combined algorithms. Results validate that the combinations of different feature detectors and descriptors balance well the accuracy and runtime. This will provide references for choosing appropriate onboard video processing algorithms.","PeriodicalId":186975,"journal":{"name":"2015 IEEE International Conference on Information and Automation","volume":"31 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":"125089899","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.2015.7279773
Hanbin Wang, Tang-Wei Hsu, M. Gallet, Florent Maye
In this paper, it proposes a low cost ball catching system which is called Doggy Drone. This system is composed of two main parts: using Xtion PRO to sense the position of objects and controlling the AR.Drone to a certain position precisely. Finally, our system achieves this real-time and challenging task.
{"title":"Doggy Drone: A low cost ball catching system based on the AR.Drone quadrotor and Xtion PRO","authors":"Hanbin Wang, Tang-Wei Hsu, M. Gallet, Florent Maye","doi":"10.1109/ICINFA.2015.7279773","DOIUrl":"https://doi.org/10.1109/ICINFA.2015.7279773","url":null,"abstract":"In this paper, it proposes a low cost ball catching system which is called Doggy Drone. This system is composed of two main parts: using Xtion PRO to sense the position of objects and controlling the AR.Drone to a certain position precisely. Finally, our system achieves this real-time and challenging task.","PeriodicalId":186975,"journal":{"name":"2015 IEEE International Conference on Information and Automation","volume":"65 ","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120879437","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.2015.7279297
Yingchi Mao, Haishi Zhong, Xiaofang Li
Cloud computing can provide the dynamic and elastic virtualized resources for the users and is based on distributed computing, parallel computing and grid computing. Task scheduling is an important part of cloud computing. The schedule constraint is based on the QoS constraints, such as task executed time, cost, resource utilization, etc. We proposed one task hierarchical model for the associated task scheduling considering the real application requirements in cloud computing. Considering the parallel structure of sub-DAG, we proposed the hierarchical task graph to decompose the associated tasks, which can improve the tasks execution concurrency and reduce the execution cost. In order to execute all of the associated tasks in the specific delay-bound, we proposed the concept of tasks processing capacity and the corresponding calculation method, and further established the mapping between the task processing capacity and execution time. Concerning the delay of the associated tasks scheduling in cloud computing, the associated task scheduling algorithms based on delay-bound constraint based on the task hierarchical model was proposed. The scheduling algorithm is called associated tasks scheduling based on serial/parallel structure (SAH-DB). Extensive experimental results demonstrated that the proposed SAH-DB algorithms can achieve better performance than CPM and TS-Sim algorithm in the terms of the total execution cost and resource utilization.
{"title":"Hierarchical model-based associate tasks scheduling with the deadline constraints in the cloud","authors":"Yingchi Mao, Haishi Zhong, Xiaofang Li","doi":"10.1109/ICINFA.2015.7279297","DOIUrl":"https://doi.org/10.1109/ICINFA.2015.7279297","url":null,"abstract":"Cloud computing can provide the dynamic and elastic virtualized resources for the users and is based on distributed computing, parallel computing and grid computing. Task scheduling is an important part of cloud computing. The schedule constraint is based on the QoS constraints, such as task executed time, cost, resource utilization, etc. We proposed one task hierarchical model for the associated task scheduling considering the real application requirements in cloud computing. Considering the parallel structure of sub-DAG, we proposed the hierarchical task graph to decompose the associated tasks, which can improve the tasks execution concurrency and reduce the execution cost. In order to execute all of the associated tasks in the specific delay-bound, we proposed the concept of tasks processing capacity and the corresponding calculation method, and further established the mapping between the task processing capacity and execution time. Concerning the delay of the associated tasks scheduling in cloud computing, the associated task scheduling algorithms based on delay-bound constraint based on the task hierarchical model was proposed. The scheduling algorithm is called associated tasks scheduling based on serial/parallel structure (SAH-DB). Extensive experimental results demonstrated that the proposed SAH-DB algorithms can achieve better performance than CPM and TS-Sim algorithm in the terms of the total execution cost and resource utilization.","PeriodicalId":186975,"journal":{"name":"2015 IEEE International Conference on Information and Automation","volume":"23 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":"123827382","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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