Pub Date : 2013-08-01DOI: 10.1109/ICINFA.2013.6720390
Zhen Yu, Chenxing Zhong, Yu Guo
The classical Bang-Coast-Bang path spectrum was analyzed by FFT in order to select the path parameters which were fit for flexible spacecraft attitude maneuver. Spectrum expression of BCB path was derived by means of DFT. The relation between the path parameters and spectrum as well as maneuver time was studied by analyzing the spectral characteristics of BCB path. A selection method of BCB path parameters was proposed. Research results indicate that if the BCB path parameters are selected by the proposed method, it can effectively reduce flexible appendages' vibration affected by attitude maneuver for rapid maneuver and rapid stabilization. Numerical simulations demonstrate the effectiveness of the method, and it is useful for BCB path parameters selection.
{"title":"Spectral analysis and parameter selection for BCB attitude maneuver path of flexible spacecraft","authors":"Zhen Yu, Chenxing Zhong, Yu Guo","doi":"10.1109/ICINFA.2013.6720390","DOIUrl":"https://doi.org/10.1109/ICINFA.2013.6720390","url":null,"abstract":"The classical Bang-Coast-Bang path spectrum was analyzed by FFT in order to select the path parameters which were fit for flexible spacecraft attitude maneuver. Spectrum expression of BCB path was derived by means of DFT. The relation between the path parameters and spectrum as well as maneuver time was studied by analyzing the spectral characteristics of BCB path. A selection method of BCB path parameters was proposed. Research results indicate that if the BCB path parameters are selected by the proposed method, it can effectively reduce flexible appendages' vibration affected by attitude maneuver for rapid maneuver and rapid stabilization. Numerical simulations demonstrate the effectiveness of the method, and it is useful for BCB path parameters selection.","PeriodicalId":250844,"journal":{"name":"2013 IEEE International Conference on Information and Automation (ICIA)","volume":"45 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":"125100366","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.2013.6720397
Weiran Cao, Xiuyi Yang, Linlin Zhu, Jianda Han, Tianran Wang
In this paper, we propose a simple but effective image prior-symmetry partial derivative distribution to detect power lines in aerial image for UAVs. The symmetry partial derivative distribution is a kind of statistics of the images. It is based on a key observation-most nature images have symmetry partial derivative distributing. Based on this prior knowledge, we use radon transformation in partial derivative image and recognize the power lines in the aerial image. The experiment results demonstrate our method is effective for automatic power line detection.
{"title":"Power line detection based on symmetric partial derivative distribution prior","authors":"Weiran Cao, Xiuyi Yang, Linlin Zhu, Jianda Han, Tianran Wang","doi":"10.1109/ICINFA.2013.6720397","DOIUrl":"https://doi.org/10.1109/ICINFA.2013.6720397","url":null,"abstract":"In this paper, we propose a simple but effective image prior-symmetry partial derivative distribution to detect power lines in aerial image for UAVs. The symmetry partial derivative distribution is a kind of statistics of the images. It is based on a key observation-most nature images have symmetry partial derivative distributing. Based on this prior knowledge, we use radon transformation in partial derivative image and recognize the power lines in the aerial image. The experiment results demonstrate our method is effective for automatic power line detection.","PeriodicalId":250844,"journal":{"name":"2013 IEEE International Conference on Information and Automation (ICIA)","volume":"33 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":"133485373","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.2013.6720374
Hongmei Zhang, Fei Liu, Ming Yang, Wei Li
This paper presents a simulation algorithm to analyze a type of colored time Petri nets, in which a time interval is associated with each transition. Specifically, we first unfold colored time Petri nets to standard time Petri nets and then develop a simulation algorithm of time Petri nets to realize the simulation of colored time Petri nets. A model of a real system is used to demonstrate and validate our approach.
{"title":"Simulation of colored time Petri nets","authors":"Hongmei Zhang, Fei Liu, Ming Yang, Wei Li","doi":"10.1109/ICINFA.2013.6720374","DOIUrl":"https://doi.org/10.1109/ICINFA.2013.6720374","url":null,"abstract":"This paper presents a simulation algorithm to analyze a type of colored time Petri nets, in which a time interval is associated with each transition. Specifically, we first unfold colored time Petri nets to standard time Petri nets and then develop a simulation algorithm of time Petri nets to realize the simulation of colored time Petri nets. A model of a real system is used to demonstrate and validate our approach.","PeriodicalId":250844,"journal":{"name":"2013 IEEE International Conference on Information and Automation (ICIA)","volume":"520 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":"131774559","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.2013.6720430
Le Zhang, Xuedong Xue, Quan Yang, Libing Wang
In order to monitor the interference in GNSS, the bearings measurement of the interference source is needed. Because the high-order cumulant (HOC) is able to suppress Gaussian nose, a music algorithm based on the Interference Bearings Measurement 4-order cumulant of circle array GNSS is put forward. The MUSIC algorithm based on HOC can be used in GNSS Interference Bearings Measurement to decrease the demand of SINR in measurement. The experiments under the condition of Gassion noise show that, the MUSIC Algorithm based on HOC has better robustness and accuracy than MUSIC.
{"title":"The application of high-order cumulantin GNSS Interference Bearings Measurement","authors":"Le Zhang, Xuedong Xue, Quan Yang, Libing Wang","doi":"10.1109/ICINFA.2013.6720430","DOIUrl":"https://doi.org/10.1109/ICINFA.2013.6720430","url":null,"abstract":"In order to monitor the interference in GNSS, the bearings measurement of the interference source is needed. Because the high-order cumulant (HOC) is able to suppress Gaussian nose, a music algorithm based on the Interference Bearings Measurement 4-order cumulant of circle array GNSS is put forward. The MUSIC algorithm based on HOC can be used in GNSS Interference Bearings Measurement to decrease the demand of SINR in measurement. The experiments under the condition of Gassion noise show that, the MUSIC Algorithm based on HOC has better robustness and accuracy than MUSIC.","PeriodicalId":250844,"journal":{"name":"2013 IEEE International Conference on Information and Automation (ICIA)","volume":"179 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":"132235423","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.2013.6720375
Jinling Wang, K. Song, Xiaojun He
For advancing the image quantity of multi-spectral and panchromatic images fusion, this paper presents an algorithm of multi-spectral image fusion based on the characteristic of imaging system. This algorithm firstly executes multi-resolution decomposition to multi-spectral and panchromatic images adopting with Nonsubsample contourlet transform, then establishes the panchromatic image injection model by analysising the imaging system characteristic of multi-spectral image in detail, and injects the detail information of panchromatic image to every spectrum of multi-spectral image by this model. At last, the decomposition coefficient is reconstructed by inverse nonsubsample contourlet transform so that the final fusion image is obtained. The experiment shows that the algorithm of this paper can not only fuses the detail information of panchromatic image adequately, but also retains the spectral characteristic of multi-spectral image better, reduces the spectrum distortion problem effectively.
{"title":"Multi-spectral image fusion based on the characteristic of imaging system","authors":"Jinling Wang, K. Song, Xiaojun He","doi":"10.1109/ICINFA.2013.6720375","DOIUrl":"https://doi.org/10.1109/ICINFA.2013.6720375","url":null,"abstract":"For advancing the image quantity of multi-spectral and panchromatic images fusion, this paper presents an algorithm of multi-spectral image fusion based on the characteristic of imaging system. This algorithm firstly executes multi-resolution decomposition to multi-spectral and panchromatic images adopting with Nonsubsample contourlet transform, then establishes the panchromatic image injection model by analysising the imaging system characteristic of multi-spectral image in detail, and injects the detail information of panchromatic image to every spectrum of multi-spectral image by this model. At last, the decomposition coefficient is reconstructed by inverse nonsubsample contourlet transform so that the final fusion image is obtained. The experiment shows that the algorithm of this paper can not only fuses the detail information of panchromatic image adequately, but also retains the spectral characteristic of multi-spectral image better, reduces the spectrum distortion problem effectively.","PeriodicalId":250844,"journal":{"name":"2013 IEEE International Conference on Information and Automation (ICIA)","volume":"279 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":"134364570","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.2013.6720493
Zhifang Zheng, Y. Guan, Manjia Su, Pinhong Wu, Jie Hu, Xuefeng Zhou, Hong Zhang
Developed with traditional method, most of the current existing master robots lack of sufficient flexibility and high adaptability to the slave robots, since their structure and degrees of freedom cannot be modified according to those of the slaves. To overcome these shortcomings with the existing master robots, we propose a novel master robot developed with modular method. With the modular approach, it is trivial to build isomorphic master-slave robots according to different tasks. For such isomorphic systems, the mapping between the master and the slave is one-to-one owing to their same configurations, which leads to simple, intuitive and stable control of the slave. In this paper, we introduce the development of the master-slave robotic system, focusing on the design method, the mechanical system, the control system including the hardware and software of the modules, and the communication between the master and slave. An experiment with the master-slave system performing a manipulation task in practice is carried out to illustrate the effectiveness of the presented modular method and the built master-slave system.
{"title":"Development of isomorphic master-slave robots with modular method","authors":"Zhifang Zheng, Y. Guan, Manjia Su, Pinhong Wu, Jie Hu, Xuefeng Zhou, Hong Zhang","doi":"10.1109/ICINFA.2013.6720493","DOIUrl":"https://doi.org/10.1109/ICINFA.2013.6720493","url":null,"abstract":"Developed with traditional method, most of the current existing master robots lack of sufficient flexibility and high adaptability to the slave robots, since their structure and degrees of freedom cannot be modified according to those of the slaves. To overcome these shortcomings with the existing master robots, we propose a novel master robot developed with modular method. With the modular approach, it is trivial to build isomorphic master-slave robots according to different tasks. For such isomorphic systems, the mapping between the master and the slave is one-to-one owing to their same configurations, which leads to simple, intuitive and stable control of the slave. In this paper, we introduce the development of the master-slave robotic system, focusing on the design method, the mechanical system, the control system including the hardware and software of the modules, and the communication between the master and slave. An experiment with the master-slave system performing a manipulation task in practice is carried out to illustrate the effectiveness of the presented modular method and the built master-slave system.","PeriodicalId":250844,"journal":{"name":"2013 IEEE International Conference on Information and Automation (ICIA)","volume":"86 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":"134449567","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.2013.6720338
Anmin Zhu, Liu Yang
Fuzzy C-Means (FCM) clustering algorithm has been widely used in the field of image segmentation with its good clustering efficiency. However, it may cause a time-consuming result and even convergence to local minima because of its local search character while with an improper initial value. Therefore, an improved FCM algorithm is proposed in this paper to solve the ripe fruit image segmentation problem. In the proposed approach, the concept of the neighborhood density is introduced to initialize the cluster center to avoid the improper initial value, which is based on the neighborhood correlation of the data space. Then a resample image method based on entropy constraint is used to reduce the data set, so that the clustering time will be reduced. The effectiveness and efficiency of the proposed approach are demonstrated by experimental studies with some standard data sets and real tomato images.
{"title":"An improved FCM algorithm for ripe fruit image segmentation","authors":"Anmin Zhu, Liu Yang","doi":"10.1109/ICINFA.2013.6720338","DOIUrl":"https://doi.org/10.1109/ICINFA.2013.6720338","url":null,"abstract":"Fuzzy C-Means (FCM) clustering algorithm has been widely used in the field of image segmentation with its good clustering efficiency. However, it may cause a time-consuming result and even convergence to local minima because of its local search character while with an improper initial value. Therefore, an improved FCM algorithm is proposed in this paper to solve the ripe fruit image segmentation problem. In the proposed approach, the concept of the neighborhood density is introduced to initialize the cluster center to avoid the improper initial value, which is based on the neighborhood correlation of the data space. Then a resample image method based on entropy constraint is used to reduce the data set, so that the clustering time will be reduced. The effectiveness and efficiency of the proposed approach are demonstrated by experimental studies with some standard data sets and real tomato images.","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":"125430504","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.2013.6720309
Jianhua Ji, Weiguang Jia, Yugeng Sun
Two kinds of BMA (Blind Mate A) connector for RFID (Radio Frequency Identification) system, which works at 5.8GHz, is investigated in this paper. The BMA connectors are modeled and simulated in HFSS (High Frequency Structure Simulator). By analyzing the simulation results, three specific steps are adopted to optimize and improve the performance of the RF (Radio Frequency) circuit which is used in the RFID reader antenna port in this paper. At the same time, it chooses a type of BMA RF connector for RFID reader for the actual circuit design. Based on the analysis and optimization of the radio frequency circuit at the antenna port, the first prototype is fabricated and tested in 5.8GHz. The testing result shows that the reflection coefficient is less than -17dB and the VSWR (Voltage Standing Wave Ratio) is less than 1.3, which has a good correspondence with the simulation result in HFSS.
{"title":"Optimization and application on BMA Radio Frequency connector","authors":"Jianhua Ji, Weiguang Jia, Yugeng Sun","doi":"10.1109/ICINFA.2013.6720309","DOIUrl":"https://doi.org/10.1109/ICINFA.2013.6720309","url":null,"abstract":"Two kinds of BMA (Blind Mate A) connector for RFID (Radio Frequency Identification) system, which works at 5.8GHz, is investigated in this paper. The BMA connectors are modeled and simulated in HFSS (High Frequency Structure Simulator). By analyzing the simulation results, three specific steps are adopted to optimize and improve the performance of the RF (Radio Frequency) circuit which is used in the RFID reader antenna port in this paper. At the same time, it chooses a type of BMA RF connector for RFID reader for the actual circuit design. Based on the analysis and optimization of the radio frequency circuit at the antenna port, the first prototype is fabricated and tested in 5.8GHz. The testing result shows that the reflection coefficient is less than -17dB and the VSWR (Voltage Standing Wave Ratio) is less than 1.3, which has a good correspondence with the simulation result in HFSS.","PeriodicalId":250844,"journal":{"name":"2013 IEEE International Conference on Information and Automation (ICIA)","volume":"18 3 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":"129087620","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.2013.6720465
Cheng Tang, Qunqun Xie, Guolai Jiang, Y. Ou, Yangsheng Xu
For surveillance robots, road detection is of high importance for other functionalities such as pedestrian detection, obstacle avoidance, autonomous running, etc. The vision-based road detection is to classify image pixels belonging to road surface or not. Up to now, most algorithms are designed for working during daytime. In this paper, we focus on road detection at night. Firstly a planar reflection model is used to fit the intensity distribution of the images pixels got from a near-infrared camera. After that, we use a pixel-based classification to determine whether the pixel belongs to the road surface or not. In the experiments, we compare our algorithm with the region growing method. The results show that our approach works better in several aspects.
{"title":"Road detection at night based on a planar reflection model","authors":"Cheng Tang, Qunqun Xie, Guolai Jiang, Y. Ou, Yangsheng Xu","doi":"10.1109/ICINFA.2013.6720465","DOIUrl":"https://doi.org/10.1109/ICINFA.2013.6720465","url":null,"abstract":"For surveillance robots, road detection is of high importance for other functionalities such as pedestrian detection, obstacle avoidance, autonomous running, etc. The vision-based road detection is to classify image pixels belonging to road surface or not. Up to now, most algorithms are designed for working during daytime. In this paper, we focus on road detection at night. Firstly a planar reflection model is used to fit the intensity distribution of the images pixels got from a near-infrared camera. After that, we use a pixel-based classification to determine whether the pixel belongs to the road surface or not. In the experiments, we compare our algorithm with the region growing method. The results show that our approach works better in several aspects.","PeriodicalId":250844,"journal":{"name":"2013 IEEE International Conference on Information and Automation (ICIA)","volume":"99 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":"132002818","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}
This paper mainly presents the survey of mobility approaches for the Extra Vehicular Robotics (EVR) application in space station. Seven different kinds of mobility approaches are identified, including straight rail mobile approach, inchworm-like movement approach, free flying vehicle/robot with docking approach, handrail climbing approach, mobile base with circular climbing approach and long manipulator transferring approach. The performance and difference of each approach are elaborated carefully, which offers reference for further research.
{"title":"Survey of mobility approaches for EVR application in space station","authors":"Yongquan Chen, Chengjiang Wang, Wenfu Xu, Huihuan Qian, Yangsheng Xu","doi":"10.1109/ICINFA.2013.6720349","DOIUrl":"https://doi.org/10.1109/ICINFA.2013.6720349","url":null,"abstract":"This paper mainly presents the survey of mobility approaches for the Extra Vehicular Robotics (EVR) application in space station. Seven different kinds of mobility approaches are identified, including straight rail mobile approach, inchworm-like movement approach, free flying vehicle/robot with docking approach, handrail climbing approach, mobile base with circular climbing approach and long manipulator transferring approach. The performance and difference of each approach are elaborated carefully, which offers reference for further research.","PeriodicalId":250844,"journal":{"name":"2013 IEEE International Conference on Information and Automation (ICIA)","volume":"23 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":"133663425","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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