Pub Date : 2011-06-21DOI: 10.1109/WCICA.2011.5970581
S. Tai, Tang-Yu Chang, S. Wang
In recent year, surveillance system is widely used in our daily life. The surveillance system is usually applied to monitor specify target for some purpose. Intelligence surveillance system can helps us to get interested information from the monitor screen. In addition to applied to security monitor in our living environment and people or traffic flow statistics, it also widely used in management. Therefore, how to use existing surveillance system to improve the accuracy rate with reducing the human resources is an important issue. Most of the current surveillance systems focus on license plate detection, and we try to extend the detect object to the containers. The existing license plate detection algorithm would face some difficulties with using on container codes detection. This paper presents a character region extraction method for containers. We also improved projection method to reduce the effect caused by bars or marks on container and make it can be used to detect irregular rows of characters
{"title":"A method of container codes detection and segmentation by using improved projection algorithm","authors":"S. Tai, Tang-Yu Chang, S. Wang","doi":"10.1109/WCICA.2011.5970581","DOIUrl":"https://doi.org/10.1109/WCICA.2011.5970581","url":null,"abstract":"In recent year, surveillance system is widely used in our daily life. The surveillance system is usually applied to monitor specify target for some purpose. Intelligence surveillance system can helps us to get interested information from the monitor screen. In addition to applied to security monitor in our living environment and people or traffic flow statistics, it also widely used in management. Therefore, how to use existing surveillance system to improve the accuracy rate with reducing the human resources is an important issue. Most of the current surveillance systems focus on license plate detection, and we try to extend the detect object to the containers. The existing license plate detection algorithm would face some difficulties with using on container codes detection. This paper presents a character region extraction method for containers. We also improved projection method to reduce the effect caused by bars or marks on container and make it can be used to detect irregular rows of characters","PeriodicalId":211049,"journal":{"name":"2011 9th World Congress on Intelligent Control and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2011-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115163255","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 : 2011-06-21DOI: 10.1109/WCICA.2011.5970604
Jiawei Zhou, H. Lin
In this paper, we propose a system to cope with the problem of autonomous mobile robot navigation. It is able to perform path planning and localize the robot in the real world environment. The path planning is first carried out using the known map, and the laser range scanner is then used to localize the robot based on the ICP registration technique. During the robot motion, the potential field is taken into account for obstacle avoidance. For the path planning, the visibility graph is established based on the current position of the robot. The Dijkstra algorithm is then used to find the shortest path to the goal position. Experimental results for both the simulation and real world environment are presented.
{"title":"A self-localization and path planning technique for mobile robot navigation","authors":"Jiawei Zhou, H. Lin","doi":"10.1109/WCICA.2011.5970604","DOIUrl":"https://doi.org/10.1109/WCICA.2011.5970604","url":null,"abstract":"In this paper, we propose a system to cope with the problem of autonomous mobile robot navigation. It is able to perform path planning and localize the robot in the real world environment. The path planning is first carried out using the known map, and the laser range scanner is then used to localize the robot based on the ICP registration technique. During the robot motion, the potential field is taken into account for obstacle avoidance. For the path planning, the visibility graph is established based on the current position of the robot. The Dijkstra algorithm is then used to find the shortest path to the goal position. Experimental results for both the simulation and real world environment are presented.","PeriodicalId":211049,"journal":{"name":"2011 9th World Congress on Intelligent Control and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2011-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116152287","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 : 2011-06-21DOI: 10.1109/WCICA.2011.5970551
Kai Liu, Jihong Zhu, Yong Fan
Reconfigurable flight control could maintain the safety and performance of aircraft under failure or damage situation. In this paper, aircraft reconfigurable control is designed using NN based adaptive backstepping method. Backstepping is used to build the baseline control law. The model changes due to failures or damage are considered as modeling errors and identified online using B-spline neural networks. Closed-loop stability is guaranteed through the backstepping design and update laws of the network weights. The requirement for aircraft model under which the reconfiguration is realizable is given. Based on this, the feasibility of control reconfiguration is analyzed. Simulation results show the effectiveness of the control law.
{"title":"NN adaptive backstepping based aircraft reconfigurable control design","authors":"Kai Liu, Jihong Zhu, Yong Fan","doi":"10.1109/WCICA.2011.5970551","DOIUrl":"https://doi.org/10.1109/WCICA.2011.5970551","url":null,"abstract":"Reconfigurable flight control could maintain the safety and performance of aircraft under failure or damage situation. In this paper, aircraft reconfigurable control is designed using NN based adaptive backstepping method. Backstepping is used to build the baseline control law. The model changes due to failures or damage are considered as modeling errors and identified online using B-spline neural networks. Closed-loop stability is guaranteed through the backstepping design and update laws of the network weights. The requirement for aircraft model under which the reconfiguration is realizable is given. Based on this, the feasibility of control reconfiguration is analyzed. Simulation results show the effectiveness of the control law.","PeriodicalId":211049,"journal":{"name":"2011 9th World Congress on Intelligent Control and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2011-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114924490","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 : 2011-06-21DOI: 10.1109/WCICA.2011.5970698
J. Shieh, Yi-Lin Liao, C. Chen
The paper adopted optic property and advanced Encryption method to apply in general lock system. By using of optic media, we developed three stages to integrate this system. The first one is filter coating. The second is AES algorithm in receiver side. Finally, the proper distance will be detected the signal to effect the lock system.
{"title":"Optical intelligence lock","authors":"J. Shieh, Yi-Lin Liao, C. Chen","doi":"10.1109/WCICA.2011.5970698","DOIUrl":"https://doi.org/10.1109/WCICA.2011.5970698","url":null,"abstract":"The paper adopted optic property and advanced Encryption method to apply in general lock system. By using of optic media, we developed three stages to integrate this system. The first one is filter coating. The second is AES algorithm in receiver side. Finally, the proper distance will be detected the signal to effect the lock system.","PeriodicalId":211049,"journal":{"name":"2011 9th World Congress on Intelligent Control and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2011-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127204843","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}
Vehicle parking in crowded parking lots has become an un-ignorable problem in urban areas. Traditional manmaneuvering parking structures has low space efficiency, and in contrary, the current fully automatic parking frame system has high cost and difficulty in processing the vehicles in parallel. Inspired by the wheeled mobile robot, the paper investigates the relationship between the space efficiency (the ratio of space for parking over the total space for parking and traveling) and the structures of four-wheel robots, both the classical car-like robot and the omni-directional robot, which can be the platforms for vehicle carriers for parking in parallel to reduce the total time requirement and increase the flexibility of parking systems. An omni-directional driving and 4 wheel independent steering (4WIS) platform is designed and developed to demonstrates its advantage of parking in narrow space. For the type of carlike robot, space efficiency is optimized with respect to the rear overhang and the capacity of the parking lot. Omni-directional structure, in contrary, still has a higher space efficiency, and thus is more ideal for the parking platform.
{"title":"Vehicle structure and Omni-directionality for higher space efficiency","authors":"Huihuan Qian, Guoqing Xu, Jingyu Yan, Yangsheng Xu","doi":"10.1109/WCICA.2011.5970592","DOIUrl":"https://doi.org/10.1109/WCICA.2011.5970592","url":null,"abstract":"Vehicle parking in crowded parking lots has become an un-ignorable problem in urban areas. Traditional manmaneuvering parking structures has low space efficiency, and in contrary, the current fully automatic parking frame system has high cost and difficulty in processing the vehicles in parallel. Inspired by the wheeled mobile robot, the paper investigates the relationship between the space efficiency (the ratio of space for parking over the total space for parking and traveling) and the structures of four-wheel robots, both the classical car-like robot and the omni-directional robot, which can be the platforms for vehicle carriers for parking in parallel to reduce the total time requirement and increase the flexibility of parking systems. An omni-directional driving and 4 wheel independent steering (4WIS) platform is designed and developed to demonstrates its advantage of parking in narrow space. For the type of carlike robot, space efficiency is optimized with respect to the rear overhang and the capacity of the parking lot. Omni-directional structure, in contrary, still has a higher space efficiency, and thus is more ideal for the parking platform.","PeriodicalId":211049,"journal":{"name":"2011 9th World Congress on Intelligent Control and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2011-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126620148","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 : 2011-06-21DOI: 10.1109/WCICA.2011.5970588
Shing‐Tai Pan, Cheng-Yuan Chang
This paper explores the design of robust stable digital filter by the Particle Swarm Optimization (PSO) algorithm. The results are compared to the design by Genetic Algorithm (GA). We first derive a robust stability criterion which will be used to ensure the D(α, r) -stability of the digital filter in the evolution of DE. Finally, we will compare the result designed by DE with that designed by GA. It will be found that the performance of the PSO is better that that of GA in the design example of this paper.
{"title":"Particle Swarm Optimization on D-stable IIR filter design","authors":"Shing‐Tai Pan, Cheng-Yuan Chang","doi":"10.1109/WCICA.2011.5970588","DOIUrl":"https://doi.org/10.1109/WCICA.2011.5970588","url":null,"abstract":"This paper explores the design of robust stable digital filter by the Particle Swarm Optimization (PSO) algorithm. The results are compared to the design by Genetic Algorithm (GA). We first derive a robust stability criterion which will be used to ensure the D(α, r) -stability of the digital filter in the evolution of DE. Finally, we will compare the result designed by DE with that designed by GA. It will be found that the performance of the PSO is better that that of GA in the design example of this paper.","PeriodicalId":211049,"journal":{"name":"2011 9th World Congress on Intelligent Control and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2011-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127054631","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 : 2011-06-21DOI: 10.1109/WCICA.2011.5970721
W. Lu, Changbo Xu, Chunwen Li
This paper presents a selective compensation strategy for the three-phase four-leg shunt active filter (AF) to enhance the flexibility of compensation objectives. Due to nonlinear and unbalanced loads in a three-phase four-wire power system, power quality problems including harmonics, neutral current, unbalanced power and reactive current are introduced. It is desirable to make the AF versatile to compensate these problems. The synchronous reference frame (SRF) method is adopted to decompose the load current for current reference generation. An adaptive linear element (Adaline) based low pass filter (LPF) is proposed to improve the time delay caused by the SRF method under steady and dynamic load conditions. Selective compensation of power quality problems is realized by combining the decomposed currents with corresponding priority coefficients. Simulation results are given to verify the feasibility and effectiveness of the proposed strategy under steady and dynamic operating conditions.
{"title":"Selective compensation of power quality problems with a three-phase four-leg shunt active filter","authors":"W. Lu, Changbo Xu, Chunwen Li","doi":"10.1109/WCICA.2011.5970721","DOIUrl":"https://doi.org/10.1109/WCICA.2011.5970721","url":null,"abstract":"This paper presents a selective compensation strategy for the three-phase four-leg shunt active filter (AF) to enhance the flexibility of compensation objectives. Due to nonlinear and unbalanced loads in a three-phase four-wire power system, power quality problems including harmonics, neutral current, unbalanced power and reactive current are introduced. It is desirable to make the AF versatile to compensate these problems. The synchronous reference frame (SRF) method is adopted to decompose the load current for current reference generation. An adaptive linear element (Adaline) based low pass filter (LPF) is proposed to improve the time delay caused by the SRF method under steady and dynamic load conditions. Selective compensation of power quality problems is realized by combining the decomposed currents with corresponding priority coefficients. Simulation results are given to verify the feasibility and effectiveness of the proposed strategy under steady and dynamic operating conditions.","PeriodicalId":211049,"journal":{"name":"2011 9th World Congress on Intelligent Control and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2011-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127347012","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 : 2011-06-21DOI: 10.1109/WCICA.2011.5970628
Kyungsu Park, Younghun Ahn, J. R. Morrison
Cluster tools with a dual-arm wafer transport robot are common in semiconductor wafer manufacturing. However, existing modeling methods suffer either from computational complexity (e.g., Petri nets, detailed simulation) and the resulting dearth of insight or from simplicity and its attendant loss of accuracy and expression (e.g., Ax+B models). Looking toward application in tool configuration optimization, performance evaluation and fab-wide simulation models, we develop expressive and computationally tractable equations and recursions for the cycle time of such cluster tools. The models include transient periods and robot behavior to express nonlinearities in tool performance. The models incorporate the affinity of such tools toward lots with certain numbers of wafers. We conduct simulations of dual-arm cluster tools to assess the quality of our models and compare performance and computational complexity between various approximation methods.
{"title":"Performance models for dual-arm cluster tools","authors":"Kyungsu Park, Younghun Ahn, J. R. Morrison","doi":"10.1109/WCICA.2011.5970628","DOIUrl":"https://doi.org/10.1109/WCICA.2011.5970628","url":null,"abstract":"Cluster tools with a dual-arm wafer transport robot are common in semiconductor wafer manufacturing. However, existing modeling methods suffer either from computational complexity (e.g., Petri nets, detailed simulation) and the resulting dearth of insight or from simplicity and its attendant loss of accuracy and expression (e.g., Ax+B models). Looking toward application in tool configuration optimization, performance evaluation and fab-wide simulation models, we develop expressive and computationally tractable equations and recursions for the cycle time of such cluster tools. The models include transient periods and robot behavior to express nonlinearities in tool performance. The models incorporate the affinity of such tools toward lots with certain numbers of wafers. We conduct simulations of dual-arm cluster tools to assess the quality of our models and compare performance and computational complexity between various approximation methods.","PeriodicalId":211049,"journal":{"name":"2011 9th World Congress on Intelligent Control and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2011-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121839640","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 : 2011-06-21DOI: 10.1109/WCICA.2011.5970655
Yichen Fan, M. Meng
Wireless capsule endoscopy (WCE) has been gradually applied for examining the gastrointestinal (GI) tract, particular the small intestine. One WCE video comprised over 50,000 images requires more than 1.5 hours in an average for the physician to give a full assessment of the patient's GI tract. However, for the power consumption reason and the miniature-design, the captured images are suffering from the resolution and illumination invariance. Moreover, the motion of the WCE camera is uncontrollable increases the complexity of the WCE images inspiration and the time needed for analyzing the image sequences even for experienced endoscopiest. Due to these limitations, a tool is required to help physicians to make fast and reliable diagnosis. In this paper, we propose a method to reconstruct the three dimension surface of the intestinal wall by the affine scale invariant feature transform (SIFT). This algorithm can help to reconstruct the GI tract's tube-like surface within selected consecutive frames. It estimates the relative movement of the WCE by applying the affine SIFT feature detector and descriptor to a sequence of WCE images. Epipolar geometry is employed to further constrain the matching feature points in order to obtain accurate 3D view. The experiments on real WCE images are presented to show the performance of our proposed method. As a conclusion, our system can provide a more informative and friendly virtualization of the WCE images to reduce the total time spent for abnormalities detections for physicians.
{"title":"3D reconstruction of the WCE images by affine SIFT method","authors":"Yichen Fan, M. Meng","doi":"10.1109/WCICA.2011.5970655","DOIUrl":"https://doi.org/10.1109/WCICA.2011.5970655","url":null,"abstract":"Wireless capsule endoscopy (WCE) has been gradually applied for examining the gastrointestinal (GI) tract, particular the small intestine. One WCE video comprised over 50,000 images requires more than 1.5 hours in an average for the physician to give a full assessment of the patient's GI tract. However, for the power consumption reason and the miniature-design, the captured images are suffering from the resolution and illumination invariance. Moreover, the motion of the WCE camera is uncontrollable increases the complexity of the WCE images inspiration and the time needed for analyzing the image sequences even for experienced endoscopiest. Due to these limitations, a tool is required to help physicians to make fast and reliable diagnosis. In this paper, we propose a method to reconstruct the three dimension surface of the intestinal wall by the affine scale invariant feature transform (SIFT). This algorithm can help to reconstruct the GI tract's tube-like surface within selected consecutive frames. It estimates the relative movement of the WCE by applying the affine SIFT feature detector and descriptor to a sequence of WCE images. Epipolar geometry is employed to further constrain the matching feature points in order to obtain accurate 3D view. The experiments on real WCE images are presented to show the performance of our proposed method. As a conclusion, our system can provide a more informative and friendly virtualization of the WCE images to reduce the total time spent for abnormalities detections for physicians.","PeriodicalId":211049,"journal":{"name":"2011 9th World Congress on Intelligent Control and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2011-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121834995","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 : 2011-06-21DOI: 10.1109/WCICA.2011.5970662
Weiwei Shang, S. Cong, Yuan Ge
The dynamic model based cross-coupled control is developed to improve the coordination motion relation between multiple kinematic chains in parallel manipulators. According to the mechanism characteristic of the parallel manipulators, two different types of synchronization error of the kinematic chains are defined in the joint space of active joints and in the task space of end-effector, respectively. By using the synchronization error, the cross-coupled control law in the task space is designed based on the dynamic model. The trajectory tracking experiments of an actual planar parallel manipulator are carried out, and then the control performances between the cross-coupled controller and the augmented PD (APD) controller are compared.
{"title":"Dynamic model based cross-coupled control of parallel manipulators","authors":"Weiwei Shang, S. Cong, Yuan Ge","doi":"10.1109/WCICA.2011.5970662","DOIUrl":"https://doi.org/10.1109/WCICA.2011.5970662","url":null,"abstract":"The dynamic model based cross-coupled control is developed to improve the coordination motion relation between multiple kinematic chains in parallel manipulators. According to the mechanism characteristic of the parallel manipulators, two different types of synchronization error of the kinematic chains are defined in the joint space of active joints and in the task space of end-effector, respectively. By using the synchronization error, the cross-coupled control law in the task space is designed based on the dynamic model. The trajectory tracking experiments of an actual planar parallel manipulator are carried out, and then the control performances between the cross-coupled controller and the augmented PD (APD) controller are compared.","PeriodicalId":211049,"journal":{"name":"2011 9th World Congress on Intelligent Control and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2011-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125025267","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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