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2015 IEEE International Conference on Information and Automation最新文献

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Control system of a small intelligent inspection robot for nuclear power plant use 一种用于核电站的小型智能巡检机器人控制系统
Pub Date : 2015-10-01 DOI: 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.
自福岛核事故以来,国际社会对核电安全问题越来越重视。健康监测是地球预警的重要手段。本文开发了一种用于核电站的智能监控机器人控制系统。控制系统实际上是一个两级控制器,由上位机和下位机组成。上位机为传统PC机,提供人机界面。它还用于任务规划、控制参数设置、监测结果处理和显示等。下位机采用ARM嵌入式控制器。它直接连接到所有的执行器和传感器。实时操作系统uc/os-ii也迁移到了ARM处理器上。有效地对硬件资源和多任务进行实时管理。典型实验验证了该方法的有效性和可靠性。
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引用次数: 4
SVM learning from imbalanced microanuerysm candidate datasets used feature selection by gini index 基于gini指数特征选择的不平衡微动脉瘤候选数据支持向量机学习
Pub Date : 2015-10-01 DOI: 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.
针对不平衡微动脉瘤候选数据集的特点:针对大量的负样本,不同类别的不同分布以及从每个候选微动脉瘤中提取的不相关特征用于学习任务,本文提出了一种特征选择算法,我们从所有特征中根据基尼指数生成的特征权值的递增顺序选出最重要的特征,然后使用改进的SVM分类器将候选微动脉瘤分为真微动脉瘤和假微动脉瘤两组。在一个公开数据库的训练集上进行的实验表明,该方法具有最佳的性能,包括最佳的自由响应接收机工作特性(FROC)曲线。此外,基于特征基尼指数选择的顶级特征的方法优于所有特征。
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引用次数: 3
A new hybrid tracking strategy based on Pulse Coupled Neural Network 一种新的基于脉冲耦合神经网络的混合跟踪策略
Pub Date : 2015-10-01 DOI: 10.1109/ICINFA.2015.7279505
S. Jia, Tao Xu, Zhengyin Dong, Xiuzhi Li, Peng Zhang
Visual object tracking is a fundamental research topic in computer vision. In this paper, we proposed a novel hybrid tracking method based on Pulse Coupled Neural Network (PCNN) and Multiple Instance Learning (MIL). Most modern trackers may be inaccurate when the training samples are imprecise which causes drift. To resolve these problems, MIL method is introduced into the tracking task, which can alleviate drift to some extent. However, the MIL tracker may detect the positive sample that is less important. PCNN is different from traditional artificial neural networks, which can be applied in many image processing fields, such as image segmentation. So, the PCNN was employed as sample detector which can know the most important sample when training the classifier. Then, a more robust and much faster tracker is proposed to approximately maximize the bag likelihood function. Empirical results on a large set of sequences demonstrate the superior performance of the proposed approach in robustness, stability and efficiency to state-of-the-art methods in the literature.
视觉目标跟踪是计算机视觉领域的一个基础研究课题。本文提出了一种基于脉冲耦合神经网络(PCNN)和多实例学习(MIL)的混合跟踪方法。当训练样本不精确时,大多数现代跟踪器可能是不准确的,这会导致漂移。为了解决这些问题,将MIL方法引入到跟踪任务中,可以在一定程度上缓解漂移。然而,MIL跟踪器可能会检测到不太重要的阳性样本。PCNN不同于传统的人工神经网络,它可以应用于许多图像处理领域,如图像分割。因此,采用PCNN作为样本检测器,可以在训练分类器时知道最重要的样本。然后,提出了一个更鲁棒和更快的跟踪器来近似最大化袋似然函数。在大量序列上的实证结果表明,本文提出的方法在鲁棒性、稳定性和效率方面优于文献中最先进的方法。
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引用次数: 1
Energy efficiency optimization of belt conveyor for material scheduling problem 带式输送机能效优化解决物料调度问题
Pub Date : 2015-10-01 DOI: 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.
本文主要研究带式输送机物料调度中的能效优化问题。首先,提出了一种新的带式输送机能效模型,这是优化问题的基础。为了满足本文的要求,我们考虑了每小时的材料消耗和仓库容量的限制。然后,针对不同约束条件下典型带式输送机系统的物料调度问题,提出了三个优化问题。最后给出了仿真结果,验证了所提方法的有效性。
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引用次数: 1
An adaptive kalman filter to estimate state-of-charge of lithium-ion batteries 一种估算锂离子电池电量状态的自适应卡尔曼滤波
Pub Date : 2015-10-01 DOI: 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.
快速准确地估计电池荷电状态(SOC)是电池管理系统中的关键技术。针对锂电池的非线性响应特性,提出了一种自适应卡尔曼滤波算法。已知电池模型参数随SOC、电池温度和电池老化而变化。此外,开路电压(OCV)与SOC之间的关系是非线性的。为了解决这些问题,提出了一种基于SOC的模型参数分段线性逼近方法,将非线性电池模型转化为分段线性模型。在此基础上,可以实现自适应卡尔曼滤波,从而减少了计算量。此外,利用Arrhenius方程更新了反映电池老化状态的内阻和剩余容量。该算法实现了自适应SOC估计,以较少的计算量提高了估计精度。最后,仿真结果表明了该算法的准确性和适用性。
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引用次数: 4
Design and implementation of a 6 DOF delta force feedback controller for tele-operation 一种用于遥控操作的6自由度delta力反馈控制器的设计与实现
Pub Date : 2015-10-01 DOI: 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.
力反馈控制器(触觉装置)是主从远程操作系统的关键部件。它可以传输自身的位置、方向和速度,对被控对象进行远程操作;同时,它可以从远端物体获取力/扭矩信息,并通过力感远程呈现将这些信息重建给操作者。本文提出了一种新型的六自由度Delta并联机构力反馈控制器,该控制器具有操作简单、力反馈精确的特点。首先介绍了力反馈控制器的结构和控制系统,然后分析了其运动学和静力学模型,并给出了力反馈控制方案。在此基础上,建立了基于Adams软件和Simulink软件的联合仿真模型,验证了力反馈控制器的性能。仿真结果表明,所建立的运动学模型和力反馈控制方案精确有效,可为遥控操作系统的设计和应用提供有益的指导。
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引用次数: 1
ZG control for 2-output tracking of 3-input nonlinear system with GD used additionally twice more 对于三输入非线性系统的二输出跟踪,ZG控制在GD的基础上增加了两倍
Pub Date : 2015-10-01 DOI: 10.1109/ICINFA.2015.7279654
Yunong Zhang, Ming Liu, Yinyan Zhang, Zeqi Chen, Hongzhou Tan
In this paper, the Zhang-gradient (ZG) method, which is a combination of Zhang dynamics (ZD) and gradient dynamics (GD) methods, is proposed for solving the tracking control problem of the multiple-input multiple-output (MIMO) system. Different from the traditional ZG method, GD is used additionally twice more in this paper to get through the derivation procedure. Moreover, each GD parameter is tunable for each GD design formula instead of being traditionally assigned the same value, which is the key point in this research for making simulations successful. Besides, simulation verifications further illustrate that the proposed controller group based on the ZG method achieves not only satisfactory tracking accuracy but also rapid tracking rate.
针对多输入多输出(MIMO)系统的跟踪控制问题,提出了张动力学(ZD)和梯度动力学(GD)相结合的张-梯度(ZG)方法。与传统的ZG方法不同,本文增加了两次GD来完成推导过程。此外,每个GD参数在每个GD设计公式中都是可调的,而不是传统的指定相同的值,这是本研究成功模拟的关键。此外,仿真验证进一步表明,基于ZG方法的控制器组不仅具有令人满意的跟踪精度,而且具有较快的跟踪速度。
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引用次数: 3
Hierarchical model-based associate tasks scheduling with the deadline constraints in the cloud 基于分层模型的任务调度与云中的截止日期约束相关联
Pub Date : 2015-10-01 DOI: 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.
云计算以分布式计算、并行计算和网格计算为基础,为用户提供动态、弹性的虚拟化资源。任务调度是云计算的重要组成部分。调度约束基于QoS约束,例如任务执行时间、成本、资源利用率等。针对云计算中的实际应用需求,提出了一种任务分层调度模型。针对子dag的并行结构,提出了分层任务图对关联任务进行分解,提高了任务执行的并发性,降低了执行成本。为了在特定的延迟范围内执行所有关联任务,我们提出了任务处理能力的概念和相应的计算方法,并进一步建立了任务处理能力与执行时间之间的映射关系。针对云计算中关联任务调度的延迟问题,提出了基于任务分层模型的基于延迟约束的关联任务调度算法。该调度算法称为基于串行/并行结构的关联任务调度(SAH-DB)。大量的实验结果表明,所提出的SAH-DB算法在总执行成本和资源利用率方面都优于CPM和TS-Sim算法。
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引用次数: 5
Integrated guidance and control design for guided bomb with terminal angle constraint 末角约束制导炸弹综合制导控制设计
Pub Date : 2015-10-01 DOI: 10.1109/ICINFA.2015.7279495
Yang Han, Zhiqiang Zheng, Yuhai Chong
Integrated guidance and control laws have the potential to improve the overall performance of missile systems by taking advantage of the synergism existing between the subsystems. This paper examines the proposed integrated guidance and control by using θ - D suboptimal method to the engagement of ground-fixed target. First, the basic longitudinal mathematical integrated guidance and control model is established. next, a new suboptimal control method, called θ - D, is employed to obtain an approximate closed form solution to this integrated guidance and control problem based on approximations to the Hamilton-Jacobi-Bellman equation. Finally, the performance of designed algorithm is verified via numerical simulation, which shows the feasibility and realizability of the proposed method.
综合制导和控制律通过利用子系统之间存在的协同作用,具有提高导弹系统整体性能的潜力。本文研究了利用θ - D次优方法对地面固定目标进行综合制导与控制的方法。首先,建立了基本的纵向数学综合制导与控制模型。其次,基于Hamilton-Jacobi-Bellman方程的近似,采用一种新的次优控制方法θ - D,得到该制导与控制综合问题的近似封闭解。最后,通过数值仿真验证了所设计算法的性能,验证了所提方法的可行性和可实现性。
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引用次数: 4
A navigation system based on vision and motion fusion information using two UFKs 基于视觉和运动融合信息的导航系统
Pub Date : 2015-10-01 DOI: 10.1109/ICINFA.2015.7279280
Chunming Yan, Jun Luo, Huayan Pu, Shaorong Xie, J. Gu
This paper proposes an autonomous navigation system for mobile robots using two unscented Kalman filters (UKFs) and a slip detector to fuse the vision and motion information. The vision information is extracted from images captured by cameras, while the motion data are gathered by two wheel encoders, an accelerometer and a gyroscope. Firstly, the description of navigation algorithm, including the system overview, the image processing procedure and the coordinate transformation, are presented. Then kinematic models of two UKFs and data integration are introduced. Analyzing the results of experiments, the multi-sensor fusion system has more stability and accuracy in comparison with the single sensor system.
本文提出了一种移动机器人自主导航系统,该系统采用两个无气味卡尔曼滤波器(UKFs)和一个滑动检测器来融合视觉和运动信息。视觉信息是从摄像头捕获的图像中提取的,而运动数据则由两个轮式编码器、一个加速度计和一个陀螺仪收集。首先对导航算法进行了描述,包括系统概述、图像处理过程和坐标变换。然后介绍了两种ukf的运动学模型和数据集成。实验结果表明,与单传感器系统相比,多传感器融合系统具有更高的稳定性和精度。
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引用次数: 2
期刊
2015 IEEE International Conference on Information and Automation
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