Pub Date : 2013-08-01DOI: 10.1109/ICINFA.2013.6720384
X. Qi, Xiaoting Li, Hailun Zhang
Effective recognition and localization of paper defect based on machine vision is the key issue for paper defect detection system. This paper proposed an improved algorithm by combination with Blob analysis algorithm and image preprocessing approach to detect the paper defects which exist in captured images by a linear charge coupled device (CCD) camera. First, the defected images are preprocessed, such as image denoising, image segmentation, connectivity analysis, and then extract effective paper textures: defect amount, regional area, long axis, short axis, central position and so on, meanwhile draw the minimum bounding rectangles. Compared with the traditional morphology algorithm and threshold segmentation and fractal feature algorithm, the improved algorithm is validated by a great deal of experimental results with high detection efficiency and defects localization accuracy.
{"title":"Research of paper surface defects detection system based on blob algorithm","authors":"X. Qi, Xiaoting Li, Hailun Zhang","doi":"10.1109/ICINFA.2013.6720384","DOIUrl":"https://doi.org/10.1109/ICINFA.2013.6720384","url":null,"abstract":"Effective recognition and localization of paper defect based on machine vision is the key issue for paper defect detection system. This paper proposed an improved algorithm by combination with Blob analysis algorithm and image preprocessing approach to detect the paper defects which exist in captured images by a linear charge coupled device (CCD) camera. First, the defected images are preprocessed, such as image denoising, image segmentation, connectivity analysis, and then extract effective paper textures: defect amount, regional area, long axis, short axis, central position and so on, meanwhile draw the minimum bounding rectangles. Compared with the traditional morphology algorithm and threshold segmentation and fractal feature algorithm, the improved algorithm is validated by a great deal of experimental results with high detection efficiency and defects localization accuracy.","PeriodicalId":250844,"journal":{"name":"2013 IEEE International Conference on Information and Automation (ICIA)","volume":"30 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":"126452533","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.2013.6720301
Ziya Jiang, Yuqing He, Jianda Han
High gain observer (HGO) has been proved to be a good method to estimate states of Lipschitz nonlinear systems. In this paper, we focus on the HGO based external input (disturbance) estimator and disturbance attenuation control scheme. Firstly, a robust control scheme is proposed to attenuate the disturbance with the assumption that it is obtainable; subsequently, HGO is designed to estimate both the states and the disturbances, and the convergence is ensured under some conditions; then, it is shown that if the gain of the HGO is selected properly, the BIBO stability of the whole system (nonlinear closed system with observer) can be guaranteed; finally, simulation with respect to an inverted pendulum is carried out and the results verify the validity of the proposed scheme.
{"title":"High gain disturbance observer and its application in robust control attenuation","authors":"Ziya Jiang, Yuqing He, Jianda Han","doi":"10.1109/ICINFA.2013.6720301","DOIUrl":"https://doi.org/10.1109/ICINFA.2013.6720301","url":null,"abstract":"High gain observer (HGO) has been proved to be a good method to estimate states of Lipschitz nonlinear systems. In this paper, we focus on the HGO based external input (disturbance) estimator and disturbance attenuation control scheme. Firstly, a robust control scheme is proposed to attenuate the disturbance with the assumption that it is obtainable; subsequently, HGO is designed to estimate both the states and the disturbances, and the convergence is ensured under some conditions; then, it is shown that if the gain of the HGO is selected properly, the BIBO stability of the whole system (nonlinear closed system with observer) can be guaranteed; finally, simulation with respect to an inverted pendulum is carried out and the results verify the validity of the proposed scheme.","PeriodicalId":250844,"journal":{"name":"2013 IEEE International Conference on Information and Automation (ICIA)","volume":"7 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":"125906413","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: 10.1109/ICINFA.2013.6720452
Nan Wang, Shugen Ma, Bin Li, Minghui Wang, Min Zhao
According to morphological characteristics in the interior of ruins after an earthquake disaster, a map representation technique for ruins environment is presented, and a corresponding simultaneous localization and mapping algorithm on the basis of hybrid map is proposed. Based on the topological metric hybrid map, the algorithm describes ruins environment at different levels. At global level, the topological map organizes the overall structure and also ensures the computing capability and ambient adaptability. Then, through building a local metric map at each topological node region, irregular obstacles formed by random seismic damage are described. Finally, experiments in an artificial ruins environment show that the algorithm can realize localization and mapping at the complicated environment.
{"title":"A hybrid map representation for simultaneous localization and mapping of the internal ruins environment","authors":"Nan Wang, Shugen Ma, Bin Li, Minghui Wang, Min Zhao","doi":"10.1109/ICINFA.2013.6720452","DOIUrl":"https://doi.org/10.1109/ICINFA.2013.6720452","url":null,"abstract":"According to morphological characteristics in the interior of ruins after an earthquake disaster, a map representation technique for ruins environment is presented, and a corresponding simultaneous localization and mapping algorithm on the basis of hybrid map is proposed. Based on the topological metric hybrid map, the algorithm describes ruins environment at different levels. At global level, the topological map organizes the overall structure and also ensures the computing capability and ambient adaptability. Then, through building a local metric map at each topological node region, irregular obstacles formed by random seismic damage are described. Finally, experiments in an artificial ruins environment show that the algorithm can realize localization and mapping at the complicated environment.","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":"129604654","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.2013.6720321
Matthew Tan, Ming Liu, R. Siegwart
The RT-WMP routing protocol allows a user to determine which data streams ought to have a higher priority for transmission over a wireless mobile ad-hoc network. This paper provides a benchmark of the RT-WMP protocol in a typical indoor environment. The benchmarking results will reveal that the RT-WMP protocol is able to handle multiple data streams well over moderate distances of up to 10m. Above this distance, with a scarcer bandwidth, the protocol is still able to allow continued transmission of at least one data stream, which may not necessarily be the data stream with the highest priority. The results will lay the base for the development of a resource allocation strategy that allows for continued data transmission of all data streams, and not just the data stream with the highest priority only.
{"title":"An experimental evaluation of the RT-WMP routing protocol in an indoor environment","authors":"Matthew Tan, Ming Liu, R. Siegwart","doi":"10.1109/ICINFA.2013.6720321","DOIUrl":"https://doi.org/10.1109/ICINFA.2013.6720321","url":null,"abstract":"The RT-WMP routing protocol allows a user to determine which data streams ought to have a higher priority for transmission over a wireless mobile ad-hoc network. This paper provides a benchmark of the RT-WMP protocol in a typical indoor environment. The benchmarking results will reveal that the RT-WMP protocol is able to handle multiple data streams well over moderate distances of up to 10m. Above this distance, with a scarcer bandwidth, the protocol is still able to allow continued transmission of at least one data stream, which may not necessarily be the data stream with the highest priority. The results will lay the base for the development of a resource allocation strategy that allows for continued data transmission of all data streams, and not just the data stream with the highest priority only.","PeriodicalId":250844,"journal":{"name":"2013 IEEE International Conference on Information and Automation (ICIA)","volume":"18 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":"127687663","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.2013.6720402
Ying Zhang, G. Song, Guifang Qiao, Yali Wang, Weiguo Wang
Three Khepera III robots are used in multi-robot system for family security by providing environment information for people. This paper proposes that the topology of multi-robot system switches according to ambient light intensity during the navigation process. The localization of robots depends on dead reckoning, and Extended Kalman Filter is used to improve the localization accuracy, the error rate is about 0.5%. The formation controller of the system is leader-follower method, which can ensure the linear and angular velocities convergence smoothly and ensure the system forms into some specified topology structure. In the end, experiments verify the effectiveness of the method.
在多机器人系统中使用了三个 Khepera III 机器人，通过为人们提供环境信息来保障家庭安全。本文提出，在导航过程中，多机器人系统的拓扑结构会根据环境光照强度进行切换。机器人的定位依赖于死算，使用扩展卡尔曼滤波器提高定位精度，误差率约为 0.5%。系统的编队控制器采用领导者-跟随者方法，可确保线速度和角速度平稳收敛，并确保系统形成某种指定的拓扑结构。最后，实验验证了该方法的有效性。
{"title":"Ambient light intensity based topology switching control for multi-robot system","authors":"Ying Zhang, G. Song, Guifang Qiao, Yali Wang, Weiguo Wang","doi":"10.1109/ICINFA.2013.6720402","DOIUrl":"https://doi.org/10.1109/ICINFA.2013.6720402","url":null,"abstract":"Three Khepera III robots are used in multi-robot system for family security by providing environment information for people. This paper proposes that the topology of multi-robot system switches according to ambient light intensity during the navigation process. The localization of robots depends on dead reckoning, and Extended Kalman Filter is used to improve the localization accuracy, the error rate is about 0.5%. The formation controller of the system is leader-follower method, which can ensure the linear and angular velocities convergence smoothly and ensure the system forms into some specified topology structure. In the end, experiments verify the effectiveness of the method.","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":"126790513","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.2013.6720499
Xiaodi Qi, Xinghua Zhou
Based on combined uncertainty and bathymetry estimator (CUBE) algorithm, a dynamic linear model (DLM) including horizontal and vertical soundings data uncertainties is discussed. Kalman filtering and multiple estimations are utilized to calculate the grid nodes. According to the real measured data of survey area of Bohai, comparison with the manual interactive process, CUBE algorithm is presented to estimate the true depth of the grid points of the survey area in this paper. From the experimental results, it can be seen that the CUBE algorithm is efficient and has good robustness, which means the proposed algorithm is suitable for massive multibeam soundings data in real-time automatic processing.
{"title":"Automatic processing of the multibeam echosounding data based on CUBE algorithm","authors":"Xiaodi Qi, Xinghua Zhou","doi":"10.1109/ICINFA.2013.6720499","DOIUrl":"https://doi.org/10.1109/ICINFA.2013.6720499","url":null,"abstract":"Based on combined uncertainty and bathymetry estimator (CUBE) algorithm, a dynamic linear model (DLM) including horizontal and vertical soundings data uncertainties is discussed. Kalman filtering and multiple estimations are utilized to calculate the grid nodes. According to the real measured data of survey area of Bohai, comparison with the manual interactive process, CUBE algorithm is presented to estimate the true depth of the grid points of the survey area in this paper. From the experimental results, it can be seen that the CUBE algorithm is efficient and has good robustness, which means the proposed algorithm is suitable for massive multibeam soundings data in real-time automatic processing.","PeriodicalId":250844,"journal":{"name":"2013 IEEE International Conference on Information and Automation (ICIA)","volume":"38 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":"127530384","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}
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