The operation state of mine pump must be tested periodically because its failure rate is very high. But the existing testing systems have some defects. So, a testing system is developed based on the virtual instrument technology for testing the hydraulic head which was a key parameter used to describe the operation state of the mine pump. In this new testing system, all meters used in the traditional testing system were replaced by testing software. Multiple physical signals can be acquired simultaneously, and all the acquired data can be processed by computer. On the other hand, the ultrasonic sensor is used in this system, so the mine pump can be tested without stopping working. It is known from actual testing that the testing error is less than 3 percent, and the testing efficiency is enhanced to a great extent.
{"title":"Testing System of Hydraulic Head of Mine Pump Based on LabVIEW","authors":"W. He","doi":"10.1109/CAR.2009.44","DOIUrl":"https://doi.org/10.1109/CAR.2009.44","url":null,"abstract":"The operation state of mine pump must be tested periodically because its failure rate is very high. But the existing testing systems have some defects. So, a testing system is developed based on the virtual instrument technology for testing the hydraulic head which was a key parameter used to describe the operation state of the mine pump. In this new testing system, all meters used in the traditional testing system were replaced by testing software. Multiple physical signals can be acquired simultaneously, and all the acquired data can be processed by computer. On the other hand, the ultrasonic sensor is used in this system, so the mine pump can be tested without stopping working. It is known from actual testing that the testing error is less than 3 percent, and the testing efficiency is enhanced to a great extent.","PeriodicalId":320307,"journal":{"name":"2009 International Asia Conference on Informatics in Control, Automation and Robotics","volume":"69 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117146126","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}
Modern military operations are becoming increasingly reliant on communication network and its connectivity. In order to help Tactical Communication Network (TCN) manipulators in operating those advanced communication equipments and related network management software, a type of simulation training system for TCN is presented in this paper. Networking simulation was introduced into the system to provide necessary implementing environment. The system to accomplish the task was named Networking Simulator (NETSIM) federate, which serves as a bridge to combine TCN network management training and equipment operation training. To realize NETSIM, the network’s abstract model of simulated TCN was analyzed and the three-layer program model framework was put forward. Key issues for NETSIM development were discussed in detail and appropriate solutions were also provided. The primary application of the research shows its scientificalness and feasibility.
{"title":"Research on Networking Simulation in TCN Simulation Training","authors":"Zhao-yong Fan, Zhi-chun Gan, Jian-jun Shen, Wei Cheng","doi":"10.1109/CAR.2009.39","DOIUrl":"https://doi.org/10.1109/CAR.2009.39","url":null,"abstract":"Modern military operations are becoming increasingly reliant on communication network and its connectivity. In order to help Tactical Communication Network (TCN) manipulators in operating those advanced communication equipments and related network management software, a type of simulation training system for TCN is presented in this paper. Networking simulation was introduced into the system to provide necessary implementing environment. The system to accomplish the task was named Networking Simulator (NETSIM) federate, which serves as a bridge to combine TCN network management training and equipment operation training. To realize NETSIM, the network’s abstract model of simulated TCN was analyzed and the three-layer program model framework was put forward. Key issues for NETSIM development were discussed in detail and appropriate solutions were also provided. The primary application of the research shows its scientificalness and feasibility.","PeriodicalId":320307,"journal":{"name":"2009 International Asia Conference on Informatics in Control, Automation and Robotics","volume":"69 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121391320","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}
Gray-level clustering is an important procedure in image processing, which reduces the gray-level of an image. In order to display an image with high gray level in a screen with lower gray level, a good gray-level clustering algorithm is necessary to complete this job. Based on the mean value and standard deviation of histogram within a sub-interval, a novel recursive algorithm for solving the gray-level reduction is proposed in this paper. It divides the sub-interval recursively until the difference between original image and clustered image within a given threshold. Experiments are carried out for some samples with high gray level to demonstrate the computational advantage of the proposed method.
{"title":"An Efficient Gray-level Clustering Algorithm for Image Segmentation","authors":"Fan-Chieh Cheng, Yu-Kumg Chen, Kuan-Ting Liu","doi":"10.1109/CAR.2009.89","DOIUrl":"https://doi.org/10.1109/CAR.2009.89","url":null,"abstract":"Gray-level clustering is an important procedure in image processing, which reduces the gray-level of an image. In order to display an image with high gray level in a screen with lower gray level, a good gray-level clustering algorithm is necessary to complete this job. Based on the mean value and standard deviation of histogram within a sub-interval, a novel recursive algorithm for solving the gray-level reduction is proposed in this paper. It divides the sub-interval recursively until the difference between original image and clustered image within a given threshold. Experiments are carried out for some samples with high gray level to demonstrate the computational advantage of the proposed method.","PeriodicalId":320307,"journal":{"name":"2009 International Asia Conference on Informatics in Control, Automation and Robotics","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129748996","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 presents the development and the implementation of a dual-robot coordination system for the parametric surfaces polishing. First, a robot kinematic model is discussed. Then, An adaptive tool path generation algorithm for parametric surfaces is proposed, the CL data consist of positions and orientations of the cutter is also calculated from the CC path. Finally, the concepts of the dual-robot configurations, postprocessing, and off-line robot path generation are presented. The results of polishing experiments show that the proposed dual-robot system is flexible and efficient for parametric surface polishing.
{"title":"Development of a Dual-robot System for Parametric Surfaces Polishing","authors":"F. Lin, Xiaodong Wang, Fengbo Lin","doi":"10.1109/CAR.2009.81","DOIUrl":"https://doi.org/10.1109/CAR.2009.81","url":null,"abstract":"This paper presents the development and the implementation of a dual-robot coordination system for the parametric surfaces polishing. First, a robot kinematic model is discussed. Then, An adaptive tool path generation algorithm for parametric surfaces is proposed, the CL data consist of positions and orientations of the cutter is also calculated from the CC path. Finally, the concepts of the dual-robot configurations, postprocessing, and off-line robot path generation are presented. The results of polishing experiments show that the proposed dual-robot system is flexible and efficient for parametric surface polishing.","PeriodicalId":320307,"journal":{"name":"2009 International Asia Conference on Informatics in Control, Automation and Robotics","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129527592","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}
A new improved partial Hausdorff distance is presented as the accurate measurement of the degree of shape similarity between the template and images, according to this distance, a fast strategy is proposed to measure the similarity roughly. A new genetic algorithm based on fuzzy logic, which can adaptively regulate the probabilities of crossover and mutation, is used to search the optimum shape matching quickly. The composite model composed of these algorithms can finish the shape matching from coarse to fine. The experimental results show that the model is capable of the shape matching with better quality and higher speed compared with other similar matching algorithms and can be used in real-time image matching.
{"title":"A Composite Model Based on Shape for Fast Image Matching","authors":"Gang Xu, Wenxian Yang","doi":"10.1109/CAR.2009.76","DOIUrl":"https://doi.org/10.1109/CAR.2009.76","url":null,"abstract":"A new improved partial Hausdorff distance is presented as the accurate measurement of the degree of shape similarity between the template and images, according to this distance, a fast strategy is proposed to measure the similarity roughly. A new genetic algorithm based on fuzzy logic, which can adaptively regulate the probabilities of crossover and mutation, is used to search the optimum shape matching quickly. The composite model composed of these algorithms can finish the shape matching from coarse to fine. The experimental results show that the model is capable of the shape matching with better quality and higher speed compared with other similar matching algorithms and can be used in real-time image matching.","PeriodicalId":320307,"journal":{"name":"2009 International Asia Conference on Informatics in Control, Automation and Robotics","volume":"25 6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124607085","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}
As space robots gain more and more importance in space operations, it was becoming imperative to understand their distinctive dynamics. The dynamics model of the space flexible robots is very complex, and the differential equation derived from dynamics was solved difficultly and slowly. In this paper the dynamics of space flexible robots was discussed, and the fast efficient integration method was used to solve this complex differential equation. Simulations results show that the dynamic modeling and fast efficient numerical integration techniques of flexible space robot proposed in this paper are very useful.
{"title":"Efficient Numerical Integration Method for Dynamic of Flexible Space Robots System","authors":"Fuyang Tian, Hongtao Wu, Hongli Sun","doi":"10.1109/CAR.2009.9","DOIUrl":"https://doi.org/10.1109/CAR.2009.9","url":null,"abstract":"As space robots gain more and more importance in space operations, it was becoming imperative to understand their distinctive dynamics. The dynamics model of the space flexible robots is very complex, and the differential equation derived from dynamics was solved difficultly and slowly. In this paper the dynamics of space flexible robots was discussed, and the fast efficient integration method was used to solve this complex differential equation. Simulations results show that the dynamic modeling and fast efficient numerical integration techniques of flexible space robot proposed in this paper are very useful.","PeriodicalId":320307,"journal":{"name":"2009 International Asia Conference on Informatics in Control, Automation and Robotics","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125094433","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}
Traditional motion controller for AUV is aiming at single degree of freedom(DOF) to decouple so it ignores the coupling effects of each DOF and it performs bad in some complex navigation states. In order to compensate the coupling effects, a novel PD controller is designed. This controller is constructed on the hydrodynamic model of AUV in six-DOFs and simplified according to the practical needs. It uses one motion control equation to realize the control in four-DOFs. Because the number of the control parameters is so large, it is hard to adjust them manually, so a modified Particle Swarm Optimization(MPSO) algorithm is used to optimize the parameters of control equation to improve efficiency and reduce the bad effect caused by subjective factors. Finally based on the simulation platform of a certain AUV, simulation experiments are conducted for the proposed controller and the results show that the presented controller is feasible in application to AUV.
{"title":"Improved PD Controller for AUV Bsed on MPSO","authors":"Chongyang Lv, Y. Pang, Lei Zhang","doi":"10.1109/CAR.2009.16","DOIUrl":"https://doi.org/10.1109/CAR.2009.16","url":null,"abstract":"Traditional motion controller for AUV is aiming at single degree of freedom(DOF) to decouple so it ignores the coupling effects of each DOF and it performs bad in some complex navigation states. In order to compensate the coupling effects, a novel PD controller is designed. This controller is constructed on the hydrodynamic model of AUV in six-DOFs and simplified according to the practical needs. It uses one motion control equation to realize the control in four-DOFs. Because the number of the control parameters is so large, it is hard to adjust them manually, so a modified Particle Swarm Optimization(MPSO) algorithm is used to optimize the parameters of control equation to improve efficiency and reduce the bad effect caused by subjective factors. Finally based on the simulation platform of a certain AUV, simulation experiments are conducted for the proposed controller and the results show that the presented controller is feasible in application to AUV.","PeriodicalId":320307,"journal":{"name":"2009 International Asia Conference on Informatics in Control, Automation and Robotics","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127264442","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 is concerned with the stabilization for linear neutral systems with distributed delays. Based on the model transformation of neutral type, the Lyapunov-Krasovskii functional method is employed to establish the delay-dependent stability criterion. Through the controller parameterization and matrix transformation techniques, the desired parameters are solved from the delay-dependent design condition in terms of linear matrix inequalities, and the desired controller is explicitly formulated. Numerical example is given to illustrate the correctness of the proposed method.
{"title":"Design of Output Feedback Controller for Neutral System with Distributed Delay","authors":"Shaohua Wang, Xiaoping Zhao","doi":"10.1109/CAR.2009.73","DOIUrl":"https://doi.org/10.1109/CAR.2009.73","url":null,"abstract":"This paper is concerned with the stabilization for linear neutral systems with distributed delays. Based on the model transformation of neutral type, the Lyapunov-Krasovskii functional method is employed to establish the delay-dependent stability criterion. Through the controller parameterization and matrix transformation techniques, the desired parameters are solved from the delay-dependent design condition in terms of linear matrix inequalities, and the desired controller is explicitly formulated. Numerical example is given to illustrate the correctness of the proposed method.","PeriodicalId":320307,"journal":{"name":"2009 International Asia Conference on Informatics in Control, Automation and Robotics","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115935525","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
In this paper, we present a new motion feature, viz. MotionCurve, and an o(n) algorithm for video adaptation. This new feature is based on motion activity in each video frame. The motion activity in each frame is represented by a Pixel Change Map(PCM) [7, 6]. A variational filter is applied on the PCM sequence to remove the noise and smooth “motion curve” for video adaptation. In our framework, the video adaptation is formulated as an optimization problem. The adaptation cost between any pair of frames is defined as the result of integration along the motion curves. With this cost function, video adaptation becomes a problem of selecting the optimal set of frames such that the summation of the cost of jumps on the Motion Curve is minimal. Experimental results on various videos demonstrate the effectiveness of our proposed ”motion curve” feature.
{"title":"A Linear Cost Function Model and its Application","authors":"Xiaorui Zhang","doi":"10.1109/CAR.2009.37","DOIUrl":"https://doi.org/10.1109/CAR.2009.37","url":null,"abstract":"In this paper, we present a new motion feature, viz. MotionCurve, and an o(n) algorithm for video adaptation. This new feature is based on motion activity in each video frame. The motion activity in each frame is represented by a Pixel Change Map(PCM) [7, 6]. A variational filter is applied on the PCM sequence to remove the noise and smooth “motion curve” for video adaptation. In our framework, the video adaptation is formulated as an optimization problem. The adaptation cost between any pair of frames is defined as the result of integration along the motion curves. With this cost function, video adaptation becomes a problem of selecting the optimal set of frames such that the summation of the cost of jumps on the Motion Curve is minimal. Experimental results on various videos demonstrate the effectiveness of our proposed ”motion curve” feature.","PeriodicalId":320307,"journal":{"name":"2009 International Asia Conference on Informatics in Control, Automation and Robotics","volume":"137 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122918329","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}
Error of inertial instruments is a very important factor which influences the accuracy of SINS. The error models of the inertial instruments are established, and then error compensation algorithms are deduced which can simultaneously compensate the installation error, error of accelerometers, dynamic error and static error of gyroscope integrated. Experimental verification of algorithms shows the algorithms are feasible.
{"title":"Research on Instrumental Error Compensation of Strap-down Inertial Navigation System","authors":"Jichao Jia, Suilao Li, Changshan Zhao, Rui Long","doi":"10.1109/CAR.2009.30","DOIUrl":"https://doi.org/10.1109/CAR.2009.30","url":null,"abstract":"Error of inertial instruments is a very important factor which influences the accuracy of SINS. The error models of the inertial instruments are established, and then error compensation algorithms are deduced which can simultaneously compensate the installation error, error of accelerometers, dynamic error and static error of gyroscope integrated. Experimental verification of algorithms shows the algorithms are feasible.","PeriodicalId":320307,"journal":{"name":"2009 International Asia Conference on Informatics in Control, Automation and Robotics","volume":"28 9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125693568","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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