Pub Date : 2013-08-01DOI: 10.1109/ICINFA.2013.6720458
Hengzhi Wang, Zhangjun Song, Jianwei Zhang
Wheeled in-pipe robots have been widely used in pipelines inspection and exploring because of simple structure, steady performance and consuming less energy. However when wheeled mobile robots run in muddy in-pipe environment they often can't be control to move accurately and continuously mainly because the ground cannot provide adequate adhesion. In order to improve the movement performance of the robot in this environment we establish a model based on terramechanics. With this model further research including motion performance of wheeled in-pipe robots has been conducted in muddy in-pipe environment in this paper. The model of wheel-terrain interaction is established with the finite element software ABAQUS. With this model we analyze what and how the factors which affect the adhesion. The actual experimental results show the model and simulated analysis is useful and helpful to mechanical design and control strategy design for wheeled in-pipe robots.
{"title":"Motion performance analysis of wheeled in-pipe robots based on ABAQUS","authors":"Hengzhi Wang, Zhangjun Song, Jianwei Zhang","doi":"10.1109/ICINFA.2013.6720458","DOIUrl":"https://doi.org/10.1109/ICINFA.2013.6720458","url":null,"abstract":"Wheeled in-pipe robots have been widely used in pipelines inspection and exploring because of simple structure, steady performance and consuming less energy. However when wheeled mobile robots run in muddy in-pipe environment they often can't be control to move accurately and continuously mainly because the ground cannot provide adequate adhesion. In order to improve the movement performance of the robot in this environment we establish a model based on terramechanics. With this model further research including motion performance of wheeled in-pipe robots has been conducted in muddy in-pipe environment in this paper. The model of wheel-terrain interaction is established with the finite element software ABAQUS. With this model we analyze what and how the factors which affect the adhesion. The actual experimental results show the model and simulated analysis is useful and helpful to mechanical design and control strategy design for wheeled in-pipe robots.","PeriodicalId":250844,"journal":{"name":"2013 IEEE International Conference on Information and Automation (ICIA)","volume":"60 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":"133749275","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.2013.6720310
Jing He, Zhiyuan Yan
Active constellation extension(ACE) algorithm is an attractive peak-to-average power ratio(PAPR) reduction method in OFDM systems, because it is easy to implement and compatible with standards. Fast convergence rate of ACE algorithm is an important issue for practical implementation. In this paper, a method is proposed to improve the performance of ACE algorithm, in which the step size for anti-peak signal and the step size for clipping level control are scaled up to speed up the convergence rate. The method is evaluated by simulation and the simulation results show that the method can achieve low PAPR and fast convergence rate. And the trade-off between PAPR reduction and average power increase is analysed, and it can be observed that appropriate combination of scale factors can achieve fast convergence rate and acceptable average power increase.
{"title":"Improving convergence rate of active constellation extension algorithm for PAPR reduction in OFDM","authors":"Jing He, Zhiyuan Yan","doi":"10.1109/ICINFA.2013.6720310","DOIUrl":"https://doi.org/10.1109/ICINFA.2013.6720310","url":null,"abstract":"Active constellation extension(ACE) algorithm is an attractive peak-to-average power ratio(PAPR) reduction method in OFDM systems, because it is easy to implement and compatible with standards. Fast convergence rate of ACE algorithm is an important issue for practical implementation. In this paper, a method is proposed to improve the performance of ACE algorithm, in which the step size for anti-peak signal and the step size for clipping level control are scaled up to speed up the convergence rate. The method is evaluated by simulation and the simulation results show that the method can achieve low PAPR and fast convergence rate. And the trade-off between PAPR reduction and average power increase is analysed, and it can be observed that appropriate combination of scale factors can achieve fast convergence rate and acceptable average power increase.","PeriodicalId":250844,"journal":{"name":"2013 IEEE International Conference on Information and Automation (ICIA)","volume":"92 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":"133801334","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.2013.6720355
Tao Ma, Yuexian Zou, Qing Ding
This paper presents a new method to solve the urban vehicle classification problem by incorporating an efficient vector sparse coding technique with the linear support vector machine (SVM) classifier. Essentially, SIFT descriptors are able to give good local characteristics of a vehicle image. However, in general, SIFT feature vectors are nonlinearly discriminated. With sparse coding, the SIFT feature vectors can be firstly projected to a higher dimensional feature domain where the resultant sparse code vectors may be more distinguishable than those in original feature domain and thus the linear SVM classifier can be adopted. Conventional vector sparse coding is computationally expensive which reduces the practical value of sparse coding for real vehicle classification applications. In this paper, an efficient L2-norm constraint based vector sparse coding algorithm for vehicle classification has been formulated and derived accordingly. The performance evaluations using real vehicle images extracted from surveillance video data are carried out and six vehicle classes (bus, truck, SUV, van, car, and motorcycle) are considered. Experimental results validate the effectiveness of the proposed method and it is encouraged to see that a good classification performance is achieved.
{"title":"Urban vehicle classification based on linear SVM with efficient vector sparse coding","authors":"Tao Ma, Yuexian Zou, Qing Ding","doi":"10.1109/ICINFA.2013.6720355","DOIUrl":"https://doi.org/10.1109/ICINFA.2013.6720355","url":null,"abstract":"This paper presents a new method to solve the urban vehicle classification problem by incorporating an efficient vector sparse coding technique with the linear support vector machine (SVM) classifier. Essentially, SIFT descriptors are able to give good local characteristics of a vehicle image. However, in general, SIFT feature vectors are nonlinearly discriminated. With sparse coding, the SIFT feature vectors can be firstly projected to a higher dimensional feature domain where the resultant sparse code vectors may be more distinguishable than those in original feature domain and thus the linear SVM classifier can be adopted. Conventional vector sparse coding is computationally expensive which reduces the practical value of sparse coding for real vehicle classification applications. In this paper, an efficient L2-norm constraint based vector sparse coding algorithm for vehicle classification has been formulated and derived accordingly. The performance evaluations using real vehicle images extracted from surveillance video data are carried out and six vehicle classes (bus, truck, SUV, van, car, and motorcycle) are considered. Experimental results validate the effectiveness of the proposed method and it is encouraged to see that a good classification performance is achieved.","PeriodicalId":250844,"journal":{"name":"2013 IEEE International Conference on Information and Automation (ICIA)","volume":"10 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":"116176661","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.2013.6720483
H. Liao, Shihe Chen, Jinming Li, Wencheng Zheng, Jia Luo, Xi Zhang
In order to meet the quality requirement of primary frequency regulation and AGC (Automatic Generation Control) for power plants in China Southern Power Grid “two rules”, the paper designs a AGC and primary frequency regulation monitoring and management system for power plant by analyzing the system requirements and combining with the actual situation of the power plant. Based on data acquisition and processing module and real-time database, the system has realized many functions such as automatic collecting, calculating and dealing with the data of the AGC and primary frequency regulation, giving a warning and analyzing the reason when the AGC and primary frequency regulation service are disqualification. After a period of trial running, it shows that the monitoring and management system can improve the quality of the AGC and primary frequency regulation services provided by the power plant. At the same time, the system can also provide guarantee for the safety, stability and economy of the generators.
{"title":"Design of AGC and primary frequency regulation monitoring and management system","authors":"H. Liao, Shihe Chen, Jinming Li, Wencheng Zheng, Jia Luo, Xi Zhang","doi":"10.1109/ICINFA.2013.6720483","DOIUrl":"https://doi.org/10.1109/ICINFA.2013.6720483","url":null,"abstract":"In order to meet the quality requirement of primary frequency regulation and AGC (Automatic Generation Control) for power plants in China Southern Power Grid “two rules”, the paper designs a AGC and primary frequency regulation monitoring and management system for power plant by analyzing the system requirements and combining with the actual situation of the power plant. Based on data acquisition and processing module and real-time database, the system has realized many functions such as automatic collecting, calculating and dealing with the data of the AGC and primary frequency regulation, giving a warning and analyzing the reason when the AGC and primary frequency regulation service are disqualification. After a period of trial running, it shows that the monitoring and management system can improve the quality of the AGC and primary frequency regulation services provided by the power plant. At the same time, the system can also provide guarantee for the safety, stability and economy of the generators.","PeriodicalId":250844,"journal":{"name":"2013 IEEE International Conference on Information and Automation (ICIA)","volume":"154 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":"114924776","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.2013.6720488
Hanfeng Liu, Peiliang Wu
Aimed at the particularity of MiroSot large league 11 vs 11, several especial issues in the MiroSot large league system are analyzed. First, the conception of “remote-brain” into the design of robot soccer system is introduced, then the full-field calibration and targets orientation in the view field of double cameras configuration is discussed and a two-step method to calibrate the large full-field is presented. The experimental results testify that these algorithms are rational and valid.
{"title":"Study on several especial issues of MiroSot large field robot soccer system","authors":"Hanfeng Liu, Peiliang Wu","doi":"10.1109/ICINFA.2013.6720488","DOIUrl":"https://doi.org/10.1109/ICINFA.2013.6720488","url":null,"abstract":"Aimed at the particularity of MiroSot large league 11 vs 11, several especial issues in the MiroSot large league system are analyzed. First, the conception of “remote-brain” into the design of robot soccer system is introduced, then the full-field calibration and targets orientation in the view field of double cameras configuration is discussed and a two-step method to calibrate the large full-field is presented. The experimental results testify that these algorithms are rational and valid.","PeriodicalId":250844,"journal":{"name":"2013 IEEE International Conference on Information and Automation (ICIA)","volume":"104 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":"123196835","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.2013.6720339
G. Song, Jianda Han, Yiwen Zhao, Chen Chen
Mobile CARM is a more and more important device for spine surgery navigation. The accuracy of the intraoperative image has a huge influence on the surgery success rate. For the purposes to achieve the surgery, the image capture device should be modeled by an accurate method. This paper describes the problems of establishing the CARM model. By analysis the structure of the mobile CARM, we establish the static model of the CARM. Next by kinematics analysis, we establish the dynamic model which could guarantee the accuracy of the CARM. Last we confirm the deviation of CARM images.
{"title":"Establishing dynamic model for mobile CARM","authors":"G. Song, Jianda Han, Yiwen Zhao, Chen Chen","doi":"10.1109/ICINFA.2013.6720339","DOIUrl":"https://doi.org/10.1109/ICINFA.2013.6720339","url":null,"abstract":"Mobile CARM is a more and more important device for spine surgery navigation. The accuracy of the intraoperative image has a huge influence on the surgery success rate. For the purposes to achieve the surgery, the image capture device should be modeled by an accurate method. This paper describes the problems of establishing the CARM model. By analysis the structure of the mobile CARM, we establish the static model of the CARM. Next by kinematics analysis, we establish the dynamic model which could guarantee the accuracy of the CARM. Last we confirm the deviation of CARM images.","PeriodicalId":250844,"journal":{"name":"2013 IEEE International Conference on Information and Automation (ICIA)","volume":"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":"124199041","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.2013.6720423
Yunong Zhang, Lin Xiao, Xiaotian Yu, Bolin Liao, Zhijun Zhang
For returning to a near initial location for a mobile redundant manipulator after a task execution, a wheel-joint coordinated minimum movement (WJCMM) scheme is proposed to minimize the movement/displacement between the final state and the initial state of the mobile robot when the end-effector fulfills a given task. Such a scheme can both coordinate simultaneously the wheels of the mobile platform and the joints of the manipulator to complete the end-effector task, and achieve the movement minimization. Besides, the physical limits of the mobile robot can be incorporated into the proposed WJCMM scheme. Then, the scheme is reformulated as a quadratic program (QP) subject to equality and bound constraints, which is solved by a numerical method based on a piecewise-linear equation (PLE). Simulation results substantiate the efficacy and accuracy of such a WJCMM scheme and the corresponding discrete-time PLE-based numerical QP solver for redundancy resolution.
{"title":"Minimum movement scheme with wheels and joints coordinated simultaneously for mobile redundant manipulator","authors":"Yunong Zhang, Lin Xiao, Xiaotian Yu, Bolin Liao, Zhijun Zhang","doi":"10.1109/ICINFA.2013.6720423","DOIUrl":"https://doi.org/10.1109/ICINFA.2013.6720423","url":null,"abstract":"For returning to a near initial location for a mobile redundant manipulator after a task execution, a wheel-joint coordinated minimum movement (WJCMM) scheme is proposed to minimize the movement/displacement between the final state and the initial state of the mobile robot when the end-effector fulfills a given task. Such a scheme can both coordinate simultaneously the wheels of the mobile platform and the joints of the manipulator to complete the end-effector task, and achieve the movement minimization. Besides, the physical limits of the mobile robot can be incorporated into the proposed WJCMM scheme. Then, the scheme is reformulated as a quadratic program (QP) subject to equality and bound constraints, which is solved by a numerical method based on a piecewise-linear equation (PLE). Simulation results substantiate the efficacy and accuracy of such a WJCMM scheme and the corresponding discrete-time PLE-based numerical QP solver for redundancy resolution.","PeriodicalId":250844,"journal":{"name":"2013 IEEE International Conference on Information and Automation (ICIA)","volume":"9 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":"127908233","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.2013.6720501
Xinyi Le, Zheng Yan, Jun Wang
This paper presents a neurodynamic optimization approach to robust pole assignment for synthesis of piecewise linear control systems via state feedback. The robust pole assignment is formulated as a pseudoconvex optimization problem with linear equality constraints where a robustness measure is considered as the objective function. The robustness is achieved by means of minimizing the spectral condition number of the closed-loop eigensystem. Two recurrent neural networks with guaranteed global convergence are applied for solving the optimization problem in real time. Simulation results are included to substantiate the effectiveness and demonstrate the characteristics of the proposed approach.
{"title":"A neurodynamic optimization approach to robust pole assignment for synthesizing piecewise linear control systems","authors":"Xinyi Le, Zheng Yan, Jun Wang","doi":"10.1109/ICINFA.2013.6720501","DOIUrl":"https://doi.org/10.1109/ICINFA.2013.6720501","url":null,"abstract":"This paper presents a neurodynamic optimization approach to robust pole assignment for synthesis of piecewise linear control systems via state feedback. The robust pole assignment is formulated as a pseudoconvex optimization problem with linear equality constraints where a robustness measure is considered as the objective function. The robustness is achieved by means of minimizing the spectral condition number of the closed-loop eigensystem. Two recurrent neural networks with guaranteed global convergence are applied for solving the optimization problem in real time. Simulation results are included to substantiate the effectiveness and demonstrate the characteristics of the proposed approach.","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":"129031272","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.2013.6720325
Cheng Sun, J. Liao, G. Wang, Baopu Li, M. Meng
This paper presents a novel design scheme of a portable 12 lead ECG signal acquisition system. The proposed system mainly consists of three parts: An ECG signal acquisition module based on ADS1298, a control module based on MSP430, and an Android medical software runs on smart phone. The collected ECG data is sent from the control unit to user's mobile phone via Bluetooth for further processing, storing, and displaying. The three parts are integrated together to achieve a small size, wireless and portable ECG acquisition system.
{"title":"A portable 12-lead ECG acquisition system","authors":"Cheng Sun, J. Liao, G. Wang, Baopu Li, M. Meng","doi":"10.1109/ICINFA.2013.6720325","DOIUrl":"https://doi.org/10.1109/ICINFA.2013.6720325","url":null,"abstract":"This paper presents a novel design scheme of a portable 12 lead ECG signal acquisition system. The proposed system mainly consists of three parts: An ECG signal acquisition module based on ADS1298, a control module based on MSP430, and an Android medical software runs on smart phone. The collected ECG data is sent from the control unit to user's mobile phone via Bluetooth for further processing, storing, and displaying. The three parts are integrated together to achieve a small size, wireless and portable ECG acquisition system.","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":"129810853","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: 10.1142/S1469026816500012
Yifan Cai, Simon X. Yang
Cooperative exploration in unknown environments is fundamentally important in robotics, where the realtime path planning and proper task allocation strategies are desirable for multi-robot cooperation. In this paper, a PSO-based approach, combined with a fuzzy obstacle avoidance module, is proposed for cooperative robots to accomplish the target searching tasks in unknown environments. The proposed cooperation strategy for a multi-robot system makes use of the potential field function as the fitness function of PSO, while the proposed fuzzy obstacle-avoidance method can improve the robot trajectory smoothness. In the simulation studies, various scenarios are investigated and compared to the method without fuzzy rules. The effectiveness of the proposed approach and the robot trajectory smoothness improvement are demonstrated by simulation and comparison studies.
{"title":"A PSO-based approach with fuzzy obstacle avoidance for cooperative multi-robots in unknown environments","authors":"Yifan Cai, Simon X. Yang","doi":"10.1142/S1469026816500012","DOIUrl":"https://doi.org/10.1142/S1469026816500012","url":null,"abstract":"Cooperative exploration in unknown environments is fundamentally important in robotics, where the realtime path planning and proper task allocation strategies are desirable for multi-robot cooperation. In this paper, a PSO-based approach, combined with a fuzzy obstacle avoidance module, is proposed for cooperative robots to accomplish the target searching tasks in unknown environments. The proposed cooperation strategy for a multi-robot system makes use of the potential field function as the fitness function of PSO, while the proposed fuzzy obstacle-avoidance method can improve the robot trajectory smoothness. In the simulation studies, various scenarios are investigated and compared to the method without fuzzy rules. The effectiveness of the proposed approach and the robot trajectory smoothness improvement are demonstrated by simulation and comparison studies.","PeriodicalId":250844,"journal":{"name":"2013 IEEE International Conference on Information and Automation (ICIA)","volume":"39 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":"131039567","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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