Pub Date : 2013-08-01DOI: 10.1109/ICINFA.2013.6720333
Wenbo Wu, Xinyu Yao, Wei Feng, Yong Chen
The Operating System scheduler is designed to allocate the CPU resources appropriately to all processes. The Linux Completely Fair Scheduler (CFS) design ensures fairness among tasks using the thread fair scheduling algorithm. This algorithm ensures allocation of resources based on the number of threads in the system and not within executing programs. Fairness issue of the CFS used in Linux kernel comes up due to the fact that programs with higher number of threads are favored by the scheduler, which based on the number of threads in the system. A novel algorithm as well as its implementation through optimized procedure is proposed as a solution to achieving better fairness by punishing greedy-threaded programs. Several tests are conducted to illustrate fairness issue and to examine the effect of the proposed algorithm.
{"title":"Research on improving fairness of Linux scheduler","authors":"Wenbo Wu, Xinyu Yao, Wei Feng, Yong Chen","doi":"10.1109/ICINFA.2013.6720333","DOIUrl":"https://doi.org/10.1109/ICINFA.2013.6720333","url":null,"abstract":"The Operating System scheduler is designed to allocate the CPU resources appropriately to all processes. The Linux Completely Fair Scheduler (CFS) design ensures fairness among tasks using the thread fair scheduling algorithm. This algorithm ensures allocation of resources based on the number of threads in the system and not within executing programs. Fairness issue of the CFS used in Linux kernel comes up due to the fact that programs with higher number of threads are favored by the scheduler, which based on the number of threads in the system. A novel algorithm as well as its implementation through optimized procedure is proposed as a solution to achieving better fairness by punishing greedy-threaded programs. Several tests are conducted to illustrate fairness issue and to examine the effect of the proposed algorithm.","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":"130414760","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.2013.6720384
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.2013.6720402
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.2013.6720499
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.2013.6720321
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.2013.6720491
Yi-Rui Tang, Yangmin Li
The UAV quadrotor is considerably difficult to be controlled due to its inherently unstable and complex multi-variable properties. To realize the control, a nonlinear dynamic model is firstly derived and formulated. A control approach employing hierarchical multiple-layer structure is then developed. The detailed hardware components, software as well as the working principle of the system are described. The entire UAV control system is tested and verified in actual flight tests.
{"title":"Realization of the flight control for an indoor UAV quadrotor","authors":"Yi-Rui Tang, Yangmin Li","doi":"10.1109/ICINFA.2013.6720491","DOIUrl":"https://doi.org/10.1109/ICINFA.2013.6720491","url":null,"abstract":"The UAV quadrotor is considerably difficult to be controlled due to its inherently unstable and complex multi-variable properties. To realize the control, a nonlinear dynamic model is firstly derived and formulated. A control approach employing hierarchical multiple-layer structure is then developed. The detailed hardware components, software as well as the working principle of the system are described. The entire UAV control system is tested and verified in actual flight tests.","PeriodicalId":250844,"journal":{"name":"2013 IEEE International Conference on Information and Automation (ICIA)","volume":"54 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":"122838440","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.2013.6720370
Yaping Liu, Jian Yao, Renping Xie, Sa Zhu
This paper targets the detection of pedestrians from still images, which focuses on developing robust feature representations that encode image regions as covariance matrices to support high accuracy pedestrian/non-pedestrian decisions. Firstly we utilize a fast method for computation of covariances based on integral images. By integrating the advantages of both covariance-based object detection and HOG-and FDF-based pedestrian detection, we then introduce four new feature representations for training a pedestrian detector: Covariance-based first-order Histogram of Oriented Gradient (Cov-HOG1), Covariance-based second-order Histogram of Oriented Gradient (Cov-HOG2), Covariance-based first-order Four Directional Features (Cov-FDF1), and Covariance-based second-order Four Directional Features (Cov-FDF2). To test our feature sets, we adopt a relatively simple learning framework that uses LogitBoost algorithm to classify each possible image region as a pedestrian or as a non-pedestrian. The experimental results show that the proposed algorithm obtains satisfactory pedestrian detection performances on the INRIA person datasets as well as images collected from Google and Flickr websites.
{"title":"Pedestrian detection from still images based on multi-feature covariances","authors":"Yaping Liu, Jian Yao, Renping Xie, Sa Zhu","doi":"10.1109/ICINFA.2013.6720370","DOIUrl":"https://doi.org/10.1109/ICINFA.2013.6720370","url":null,"abstract":"This paper targets the detection of pedestrians from still images, which focuses on developing robust feature representations that encode image regions as covariance matrices to support high accuracy pedestrian/non-pedestrian decisions. Firstly we utilize a fast method for computation of covariances based on integral images. By integrating the advantages of both covariance-based object detection and HOG-and FDF-based pedestrian detection, we then introduce four new feature representations for training a pedestrian detector: Covariance-based first-order Histogram of Oriented Gradient (Cov-HOG1), Covariance-based second-order Histogram of Oriented Gradient (Cov-HOG2), Covariance-based first-order Four Directional Features (Cov-FDF1), and Covariance-based second-order Four Directional Features (Cov-FDF2). To test our feature sets, we adopt a relatively simple learning framework that uses LogitBoost algorithm to classify each possible image region as a pedestrian or as a non-pedestrian. The experimental results show that the proposed algorithm obtains satisfactory pedestrian detection performances on the INRIA person datasets as well as images collected from Google and Flickr websites.","PeriodicalId":250844,"journal":{"name":"2013 IEEE International Conference on Information and Automation (ICIA)","volume":"14 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":"123867201","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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