Pub Date : 2013-08-01DOI: 10.1109/ICINFA.2013.6720399
Limin Xie, Zhan Song, Xinhan Huang
Photometric stereo (PS) is an important 3D reconstruction means in computer vision domain. Traditional PS-based techniques are usually assumed with infinity point light source and parallel lighting directions. In this paper, a PS system is established with some LED lamps, and the calibration method for the near light source is investigated. The shaded image and the spatial geometry of the object are used to estimate the position of the near light source as well as their directions. Real experiments are implemented to demonstrate its feasibility and 3D reconstruction accuracy.
{"title":"A novel method for the calibration of an LED-based photometric stereo system","authors":"Limin Xie, Zhan Song, Xinhan Huang","doi":"10.1109/ICINFA.2013.6720399","DOIUrl":"https://doi.org/10.1109/ICINFA.2013.6720399","url":null,"abstract":"Photometric stereo (PS) is an important 3D reconstruction means in computer vision domain. Traditional PS-based techniques are usually assumed with infinity point light source and parallel lighting directions. In this paper, a PS system is established with some LED lamps, and the calibration method for the near light source is investigated. The shaded image and the spatial geometry of the object are used to estimate the position of the near light source as well as their directions. Real experiments are implemented to demonstrate its feasibility and 3D reconstruction accuracy.","PeriodicalId":250844,"journal":{"name":"2013 IEEE International Conference on Information and Automation (ICIA)","volume":"73 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122381165","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 : 2013-08-01DOI: 10.1109/ICINFA.2013.6720454
Guanglong Wang, Yu Dong, Tao Lai, W. Zhu, Jianhui Chen, Zhongtao Qiao, Fengqi Gao
A complete planning mechanism was established to improve efficiency of trajectory planning of biped robot. The kinematic model of robot's legs was built by D-H method. Trajectory planning for robot's legs was finished based on complete kinematic model of the biped robot. The stability of the robot was improved by adding multiple geometrical constraints. Rotation angles of each joint were obtained by solving equation sets based on the planned trajectory equations. The 3D model of biped robot was built by the software of 3DS MAX. The servo interface between servo drivers and the virtual motion control software was created which was programmed by software of Visual Studio. Experiment results indicate that the mechanism can promote working efficiency greatly as well as having good control performance.
{"title":"Algorithm and implementation of joint trajectory planning for virtual robot's legs","authors":"Guanglong Wang, Yu Dong, Tao Lai, W. Zhu, Jianhui Chen, Zhongtao Qiao, Fengqi Gao","doi":"10.1109/ICINFA.2013.6720454","DOIUrl":"https://doi.org/10.1109/ICINFA.2013.6720454","url":null,"abstract":"A complete planning mechanism was established to improve efficiency of trajectory planning of biped robot. The kinematic model of robot's legs was built by D-H method. Trajectory planning for robot's legs was finished based on complete kinematic model of the biped robot. The stability of the robot was improved by adding multiple geometrical constraints. Rotation angles of each joint were obtained by solving equation sets based on the planned trajectory equations. The 3D model of biped robot was built by the software of 3DS MAX. The servo interface between servo drivers and the virtual motion control software was created which was programmed by software of Visual Studio. Experiment results indicate that the mechanism can promote working efficiency greatly as well as having good control performance.","PeriodicalId":250844,"journal":{"name":"2013 IEEE International Conference on Information and Automation (ICIA)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124961018","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 : 2013-08-01DOI: 10.1109/ICINFA.2013.6720362
Yizhe Zhang, J. Zuo, Bingrong Zhang
The concept of modularization is introduced in modeling and control design procedure for a lift-fan UAV which exhibits different character in different configuration. The characteristic of lift fans and its vanes are studied through an experiment system, and the 6-DOF nonlinear dynamic model for hove is derived as several modules. Control system is also divided into several modules with each module being designed as inversed system of corresponding module of UAV dynamics, so that the closed loop system becomes a set of simple kinematics equations. The use of the concept of modularization can greatly simplify the modeling procedure and made the design of control law very easy and straightforward. The effectiveness of the resulting model and control law for attitude and position control was verified by digital simulation.
{"title":"Modularized modeling and inversed dynamics control design for a lift-fan UAV in hover","authors":"Yizhe Zhang, J. Zuo, Bingrong Zhang","doi":"10.1109/ICINFA.2013.6720362","DOIUrl":"https://doi.org/10.1109/ICINFA.2013.6720362","url":null,"abstract":"The concept of modularization is introduced in modeling and control design procedure for a lift-fan UAV which exhibits different character in different configuration. The characteristic of lift fans and its vanes are studied through an experiment system, and the 6-DOF nonlinear dynamic model for hove is derived as several modules. Control system is also divided into several modules with each module being designed as inversed system of corresponding module of UAV dynamics, so that the closed loop system becomes a set of simple kinematics equations. The use of the concept of modularization can greatly simplify the modeling procedure and made the design of control law very easy and straightforward. The effectiveness of the resulting model and control law for attitude and position control was verified by digital simulation.","PeriodicalId":250844,"journal":{"name":"2013 IEEE International Conference on Information and Automation (ICIA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130215800","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 : 2013-08-01DOI: 10.1109/ICINFA.2013.6720434
Haomin Dai, Aiqiang Xu
In order to solve the problem of calculating the instantaneous frequency by means of local mean decomposition, four methods were introduced such as Hilbert transform, Teager energy operator, direct quadrature and inverse cosine. By analysis of the advantages and disadvantages of various methods, the following conclusions could be made: first, the phenomenon of end swing by Hilbert transform was obvious; second, Teager energy operator method was easy to susceptible to signal form and noise, and the error was relatively large; third, inverse cosine method could be influenced by signal extreme points and brought in the mutations of instantaneous frequency. To solve the mutations of instantaneous frequency by inverse cosine method, an improved algorithm was proposed, which used cubic B-spline interpolation to obtain the instantaneous frequency of signal extreme points. It was shown from simulation and experimental results that the improved inverse cosine method could avoid the phenomenon of mutation and the error of instantaneous frequency was smaller.
{"title":"A comparative study on estimation of instantaneous frequency by means of LMD","authors":"Haomin Dai, Aiqiang Xu","doi":"10.1109/ICINFA.2013.6720434","DOIUrl":"https://doi.org/10.1109/ICINFA.2013.6720434","url":null,"abstract":"In order to solve the problem of calculating the instantaneous frequency by means of local mean decomposition, four methods were introduced such as Hilbert transform, Teager energy operator, direct quadrature and inverse cosine. By analysis of the advantages and disadvantages of various methods, the following conclusions could be made: first, the phenomenon of end swing by Hilbert transform was obvious; second, Teager energy operator method was easy to susceptible to signal form and noise, and the error was relatively large; third, inverse cosine method could be influenced by signal extreme points and brought in the mutations of instantaneous frequency. To solve the mutations of instantaneous frequency by inverse cosine method, an improved algorithm was proposed, which used cubic B-spline interpolation to obtain the instantaneous frequency of signal extreme points. It was shown from simulation and experimental results that the improved inverse cosine method could avoid the phenomenon of mutation and the error of instantaneous frequency was smaller.","PeriodicalId":250844,"journal":{"name":"2013 IEEE International Conference on Information and Automation (ICIA)","volume":"172 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117331288","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 : 2013-08-01DOI: 10.1109/ICINFA.2013.6720478
Feihu Sun, Junzhi Yu, De Xu, Ming Wang
There has been greatly increased interest in using embedded vision for aquatic environments. This paper presents a robust target tracking method for a free-swimming biomimetic robotic fish by means of embedded vision and central pattern generator (CPG)-based motion control. Specifically, an algorithm called automatic continuous adaptive mean shift (Auto-CAMSHIFT) is firstly proposed to obtain the position and size of the interested target. Then a fuzzy logic controller is developed to generate the control input closely related to the desired target. A CPG controller that is robust against small and unexpected disturbance, at the same time, is employed to produce coordinated signals for multiple moving joints of the robotic fish. Finally, aquatic testing results verify the effectiveness of the proposed methods and show a satisfactory performance.
{"title":"Target tracking of robotic fish based on embedded vision and CPG model","authors":"Feihu Sun, Junzhi Yu, De Xu, Ming Wang","doi":"10.1109/ICINFA.2013.6720478","DOIUrl":"https://doi.org/10.1109/ICINFA.2013.6720478","url":null,"abstract":"There has been greatly increased interest in using embedded vision for aquatic environments. This paper presents a robust target tracking method for a free-swimming biomimetic robotic fish by means of embedded vision and central pattern generator (CPG)-based motion control. Specifically, an algorithm called automatic continuous adaptive mean shift (Auto-CAMSHIFT) is firstly proposed to obtain the position and size of the interested target. Then a fuzzy logic controller is developed to generate the control input closely related to the desired target. A CPG controller that is robust against small and unexpected disturbance, at the same time, is employed to produce coordinated signals for multiple moving joints of the robotic fish. Finally, aquatic testing results verify the effectiveness of the proposed methods and show a satisfactory performance.","PeriodicalId":250844,"journal":{"name":"2013 IEEE International Conference on Information and Automation (ICIA)","volume":"102 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114263833","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 : 2013-08-01DOI: 10.1109/ICINFA.2013.6720270
Yanchao Shen, Huaicheng Yan, G. Feng, Hao Zhang
In this paper, self-triggered consensus control problem is investigated for a class of multi-agent systems. Each agent computes its next update time instance at the predefined time. This control strategy extends substantially the existing work on event-triggered control, because in the self-triggered deployment the agents have no need to maintain the track of the state error that triggers the actuation between continuous update instants. A distributed self-triggered control procedure is presented for a special first-order multi-agents and is shown to achieve the rendezvous objective. The effectiveness of the proposed control method is illustrated by a numerical example.
{"title":"Self-triggered consensus control for multi-agent systems","authors":"Yanchao Shen, Huaicheng Yan, G. Feng, Hao Zhang","doi":"10.1109/ICINFA.2013.6720270","DOIUrl":"https://doi.org/10.1109/ICINFA.2013.6720270","url":null,"abstract":"In this paper, self-triggered consensus control problem is investigated for a class of multi-agent systems. Each agent computes its next update time instance at the predefined time. This control strategy extends substantially the existing work on event-triggered control, because in the self-triggered deployment the agents have no need to maintain the track of the state error that triggers the actuation between continuous update instants. A distributed self-triggered control procedure is presented for a special first-order multi-agents and is shown to achieve the rendezvous objective. The effectiveness of the proposed control method is illustrated by a numerical example.","PeriodicalId":250844,"journal":{"name":"2013 IEEE International Conference on Information and Automation (ICIA)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114222289","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 : 2013-08-01DOI: 10.1109/ICINFA.2013.6720276
Chongjie Qi, D. Que
Digital Signal Processor (DSP) has been well developed which makes digital signal processing technology also develop fast. This paper presents the design and implementation of a leakage point location system for the underground water supply pipelines combined with digital signal processing technology and micro-processing technology. This system, selecting micro control unit (MCU) as the central processing unit and DSP as digital arithmetic unit, completes the underground water pipe leakage positioning function. From our experiment, it shows that the system has a high computing efficiency and positioning success rate, which achieves good test results reducing greatly water wastages.
{"title":"Design of pipeline leakage point location system and simulation of related algorithm","authors":"Chongjie Qi, D. Que","doi":"10.1109/ICINFA.2013.6720276","DOIUrl":"https://doi.org/10.1109/ICINFA.2013.6720276","url":null,"abstract":"Digital Signal Processor (DSP) has been well developed which makes digital signal processing technology also develop fast. This paper presents the design and implementation of a leakage point location system for the underground water supply pipelines combined with digital signal processing technology and micro-processing technology. This system, selecting micro control unit (MCU) as the central processing unit and DSP as digital arithmetic unit, completes the underground water pipe leakage positioning function. From our experiment, it shows that the system has a high computing efficiency and positioning success rate, which achieves good test results reducing greatly water wastages.","PeriodicalId":250844,"journal":{"name":"2013 IEEE International Conference on Information and Automation (ICIA)","volume":"199 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115688968","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 : 2013-08-01DOI: 10.1109/ICINFA.2013.6720466
Xiaofeng Gong, Xianmin Ma, Yongqiang Zhang, Jianxiang Yang
In order to avoid losses, which is caused by electromechanical failure in the coal large transport equipments, this article introduced a model that integrated by breakdown extraction, failure diagnosis and fault analysis in the large-scale scraper chain conveyor breakdown. The weak signal of mechanical vibration detection by ANFIS is adopted. And it is also used for Troubleshooting effectively and accurately. Lastly, an effective diagnosis suggestion is given through the instrumentation KS-2000. And by this way, we not only proved the feasibility and superiority of this plan, but also achieved predictive maintenance in the true sense.
{"title":"Application of fuzzy neural network in fault diagnosis for scraper conveyor vibration","authors":"Xiaofeng Gong, Xianmin Ma, Yongqiang Zhang, Jianxiang Yang","doi":"10.1109/ICINFA.2013.6720466","DOIUrl":"https://doi.org/10.1109/ICINFA.2013.6720466","url":null,"abstract":"In order to avoid losses, which is caused by electromechanical failure in the coal large transport equipments, this article introduced a model that integrated by breakdown extraction, failure diagnosis and fault analysis in the large-scale scraper chain conveyor breakdown. The weak signal of mechanical vibration detection by ANFIS is adopted. And it is also used for Troubleshooting effectively and accurately. Lastly, an effective diagnosis suggestion is given through the instrumentation KS-2000. And by this way, we not only proved the feasibility and superiority of this plan, but also achieved predictive maintenance in the true sense.","PeriodicalId":250844,"journal":{"name":"2013 IEEE International Conference on Information and Automation (ICIA)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131634479","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}
In order to verify and optimize the design process of electro-hydraulic servo system, this paper set up a load-adjustable electro-hydraulic servo load test bench. Base on the structural analysis of test bench, the mathematical models of closed-loop torque and position control are established. After theoretical calculations and model simplification, a compound controller consisting of feedforward control and PID control is designed. Later, this study focused on the torque loop experiment. The correctness and feasibility of the design process can be verified via experiments. Some qualitative conclusions from the test can provide some reference for the similar applications.
{"title":"Compound control on electro-hydraulic servo loading test bench","authors":"Yanqing Guo, Yongling Fu, Peng Zhang, Rongrong Yang, Haitao Qi","doi":"10.1109/ICINFA.2013.6720353","DOIUrl":"https://doi.org/10.1109/ICINFA.2013.6720353","url":null,"abstract":"In order to verify and optimize the design process of electro-hydraulic servo system, this paper set up a load-adjustable electro-hydraulic servo load test bench. Base on the structural analysis of test bench, the mathematical models of closed-loop torque and position control are established. After theoretical calculations and model simplification, a compound controller consisting of feedforward control and PID control is designed. Later, this study focused on the torque loop experiment. The correctness and feasibility of the design process can be verified via experiments. Some qualitative conclusions from the test can provide some reference for the similar applications.","PeriodicalId":250844,"journal":{"name":"2013 IEEE International Conference on Information and Automation (ICIA)","volume":"63 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126745802","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}
The operational difficulty of Transcranial Doppler (TCD) limits its use in normal clinical settings. We therefore present a robotic arm consists of five degrees of freedom which are achieved by four motors and one extra flexible spring, to assure appropriate pressure on temporal window. With proper control strategies, the robotic arm can move the TCD probe to automatically search temporal window positions. In this paper, we have developed the first full-automatic ambulatory TCD system, evaluated its reliability and efficiency after many experiments. In view of the validation of the instrument in successful experiments, this probe holder is likely to have great impact on future TCD examination.
{"title":"A robotic holder of transcranial doppler probe for CBFV auto-searching","authors":"Quanli Qiu, Xiao-ping Yang, Jia Liu, Pandeng Zhang, Xinyu Wu","doi":"10.1109/ICINFA.2013.6720492","DOIUrl":"https://doi.org/10.1109/ICINFA.2013.6720492","url":null,"abstract":"The operational difficulty of Transcranial Doppler (TCD) limits its use in normal clinical settings. We therefore present a robotic arm consists of five degrees of freedom which are achieved by four motors and one extra flexible spring, to assure appropriate pressure on temporal window. With proper control strategies, the robotic arm can move the TCD probe to automatically search temporal window positions. In this paper, we have developed the first full-automatic ambulatory TCD system, evaluated its reliability and efficiency after many experiments. In view of the validation of the instrument in successful experiments, this probe holder is likely to have great impact on future TCD examination.","PeriodicalId":250844,"journal":{"name":"2013 IEEE International Conference on Information and Automation (ICIA)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114182111","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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