Pub Date : 2006-10-23DOI: 10.1109/WCICA.2006.1713826
Hanjun Jin, Yanlin Wang, Xiaorong Wang, Jia Fu
The problem of tracking the distance between two convex polyhedra is finding applications in many areas of robotics, including intersection detection, collision detection, and path planning. An algorithm for computing the minimum distance between two convex polyhedra is presented. The algorithm applies to polyhedral objects that can be represented as convex hulls of its vertex value in three-dimensional space. Nonlinear programming techniques are then employed to compute the minimum distance between two convex polyhedra, and according to the minimum distance, it can conclude whether or not the objects has collided at some time. The simulation results demonstrate the performance of this new method
{"title":"An Algorithm on Collision Detection by Computing the Minimum Distance between Two Convex Polyhedra","authors":"Hanjun Jin, Yanlin Wang, Xiaorong Wang, Jia Fu","doi":"10.1109/WCICA.2006.1713826","DOIUrl":"https://doi.org/10.1109/WCICA.2006.1713826","url":null,"abstract":"The problem of tracking the distance between two convex polyhedra is finding applications in many areas of robotics, including intersection detection, collision detection, and path planning. An algorithm for computing the minimum distance between two convex polyhedra is presented. The algorithm applies to polyhedral objects that can be represented as convex hulls of its vertex value in three-dimensional space. Nonlinear programming techniques are then employed to compute the minimum distance between two convex polyhedra, and according to the minimum distance, it can conclude whether or not the objects has collided at some time. The simulation results demonstrate the performance of this new method","PeriodicalId":375135,"journal":{"name":"2006 6th World Congress on Intelligent Control and Automation","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-10-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128625029","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 : 2006-10-23DOI: 10.1109/WCICA.2006.1713060
Guicheng Wang, M. Zhang, Xinhe Xu, C. Jiang
Genetic algorithm with many performance indexes is proposed. It can seek an optimal application in the controller parameters. And the concrete implementation method of the improved genetic algorithm is discussed. In the improved genetic algorithm, the constructed formula of many performance indexes is also given and the aspects of formulation have been discussed. Genetic algorithm with many performance indexes has many representative ways, one of which is involved in simulation. The selection of the performance index has considered the coefficient of weight in order to display the importance of every performance index. Simulation results have proved new method have better parameter seek optimally ability than the genetic algorithm with single performance index
{"title":"Optimization of Controller Parameters Based on the Improved Genetic Algorithms","authors":"Guicheng Wang, M. Zhang, Xinhe Xu, C. Jiang","doi":"10.1109/WCICA.2006.1713060","DOIUrl":"https://doi.org/10.1109/WCICA.2006.1713060","url":null,"abstract":"Genetic algorithm with many performance indexes is proposed. It can seek an optimal application in the controller parameters. And the concrete implementation method of the improved genetic algorithm is discussed. In the improved genetic algorithm, the constructed formula of many performance indexes is also given and the aspects of formulation have been discussed. Genetic algorithm with many performance indexes has many representative ways, one of which is involved in simulation. The selection of the performance index has considered the coefficient of weight in order to display the importance of every performance index. Simulation results have proved new method have better parameter seek optimally ability than the genetic algorithm with single performance index","PeriodicalId":375135,"journal":{"name":"2006 6th World Congress on Intelligent Control and Automation","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-10-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129002017","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 : 2006-10-23DOI: 10.1109/WCICA.2006.1714031
Wei Wang, Jiatao Song, Zhongxiu Yang, Z. Chi
Eigenface is an effective human face recognition technique. However its performance is affected to some extent by lighting conditions in capturing face images. In this paper, a new algorithm for the illumination compensation of face images based on Wavelet transform is proposed. By discarding the low frequency components of a face image and reconstructing the image using the high frequency components only, the influence of lightings on face image recognition can be greatly reduced. Experimental results on Yale face database and our own face database show that the recognition rate of the eigenface method on the lighting compensated images is increased significantly
{"title":"Wavelet-based Illumination Compensation for Face Recognition using Eigenface Method","authors":"Wei Wang, Jiatao Song, Zhongxiu Yang, Z. Chi","doi":"10.1109/WCICA.2006.1714031","DOIUrl":"https://doi.org/10.1109/WCICA.2006.1714031","url":null,"abstract":"Eigenface is an effective human face recognition technique. However its performance is affected to some extent by lighting conditions in capturing face images. In this paper, a new algorithm for the illumination compensation of face images based on Wavelet transform is proposed. By discarding the low frequency components of a face image and reconstructing the image using the high frequency components only, the influence of lightings on face image recognition can be greatly reduced. Experimental results on Yale face database and our own face database show that the recognition rate of the eigenface method on the lighting compensated images is increased significantly","PeriodicalId":375135,"journal":{"name":"2006 6th World Congress on Intelligent Control and Automation","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-10-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129014822","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 : 2006-10-23DOI: 10.1109/WCICA.2006.1714368
W. Huang, Weimin Wang, Hui Xu
Real-time database applied in process industry requests the performance of mass data and high speed. So the process data in database must be compressed effectively and reliably. According to process data characteristic, a lossless compression algorithm was designed based on LZW algorithm and RLE algorithm. The compression algorithm first classified process data by characteristic, and then different compression methods were designed for all kinds of data. In order to increase compression radio, pretreatment approaches were implemented before compression. The compression algorithm solved the difficulties of low compression radio and compression speed. Performance test shows that this algorithm obviously improved the real-time performance and efficiency when accessing the process database. It will be widely applied in MES and PCS
{"title":"A Lossless Data Compression Algorithm for Real-time Database","authors":"W. Huang, Weimin Wang, Hui Xu","doi":"10.1109/WCICA.2006.1714368","DOIUrl":"https://doi.org/10.1109/WCICA.2006.1714368","url":null,"abstract":"Real-time database applied in process industry requests the performance of mass data and high speed. So the process data in database must be compressed effectively and reliably. According to process data characteristic, a lossless compression algorithm was designed based on LZW algorithm and RLE algorithm. The compression algorithm first classified process data by characteristic, and then different compression methods were designed for all kinds of data. In order to increase compression radio, pretreatment approaches were implemented before compression. The compression algorithm solved the difficulties of low compression radio and compression speed. Performance test shows that this algorithm obviously improved the real-time performance and efficiency when accessing the process database. It will be widely applied in MES and PCS","PeriodicalId":375135,"journal":{"name":"2006 6th World Congress on Intelligent Control and Automation","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-10-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124585920","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 : 2006-10-23DOI: 10.1109/WCICA.2006.1713361
Gang Zhang, Youping Chen, Zude Zhou, Shaohui Li
To enlarge the measuring range of inductive displacement sensor, the proposed displacement measurement instrument consists of four elements: the first is a movable coil with short length supplied with DC voltage. The second is a fixed iron rod acting as a core, its shape is designed carefully and the cross-section is varying along the axis. The third is an iron cover. It works as the external path of magnetic flux. When the coil moves on the rod, the current induced in the coil is proportional to the axis-direction displacement of the iron rod. The last one is a measurement circuit used to transform the current signal to the voltage signal and then processed by a microprocessor. This sensor offers excellent features of smart structure, low cost, large sensing length (1400mm), high accuracy (0.5%) and good linearity. An application of this instrument has been put on use in the underwater displacement measurement of a water station lift-gate control system
{"title":"Design of an Inductive Long Displacement Measurement Instrument","authors":"Gang Zhang, Youping Chen, Zude Zhou, Shaohui Li","doi":"10.1109/WCICA.2006.1713361","DOIUrl":"https://doi.org/10.1109/WCICA.2006.1713361","url":null,"abstract":"To enlarge the measuring range of inductive displacement sensor, the proposed displacement measurement instrument consists of four elements: the first is a movable coil with short length supplied with DC voltage. The second is a fixed iron rod acting as a core, its shape is designed carefully and the cross-section is varying along the axis. The third is an iron cover. It works as the external path of magnetic flux. When the coil moves on the rod, the current induced in the coil is proportional to the axis-direction displacement of the iron rod. The last one is a measurement circuit used to transform the current signal to the voltage signal and then processed by a microprocessor. This sensor offers excellent features of smart structure, low cost, large sensing length (1400mm), high accuracy (0.5%) and good linearity. An application of this instrument has been put on use in the underwater displacement measurement of a water station lift-gate control system","PeriodicalId":375135,"journal":{"name":"2006 6th World Congress on Intelligent Control and Automation","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-10-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124602824","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 : 2006-10-23DOI: 10.1109/WCICA.2006.1713502
Suying Yang, Xiaoyu Sun, C. Zhong, Zaitao Su
According to the best temperature curve for the rice cooking, a new cooking process is put forward for it. To perfect its control, its process requirements and characteristics were investigated, and solution of some exceptions was devised in every stage of the process. Also, combining the new cooking process, an easier way is provided to realize one-dimension fuzzy controller of the heating power and the weight reasoning of the rice in the rice cooker
{"title":"Research and Realization of the Cooking Process and Fuzzy Controller for the Rice Cooker","authors":"Suying Yang, Xiaoyu Sun, C. Zhong, Zaitao Su","doi":"10.1109/WCICA.2006.1713502","DOIUrl":"https://doi.org/10.1109/WCICA.2006.1713502","url":null,"abstract":"According to the best temperature curve for the rice cooking, a new cooking process is put forward for it. To perfect its control, its process requirements and characteristics were investigated, and solution of some exceptions was devised in every stage of the process. Also, combining the new cooking process, an easier way is provided to realize one-dimension fuzzy controller of the heating power and the weight reasoning of the rice in the rice cooker","PeriodicalId":375135,"journal":{"name":"2006 6th World Congress on Intelligent Control and Automation","volume":"90 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-10-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124613441","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 : 2006-10-23DOI: 10.1109/WCICA.2006.1713729
Qingsheng Luo, Baoling Han, X. Mao, Kun Wu, X. Duan
The hexapod bio-robot possess significant advantages on uneven surfaces compared with other type locomotion systems. It has the ability of adapting itself to complex terrains in the way of imitating walking insects. A large computational capability, real-time control and advanced control strategy is required to coordinate many degrees-of-freedom (DOF) used in legged locomotion systems. In this paper a mechanical structure is presented which is controlled by the FWN-based distributed hierarchical control method based on human nervous system principal. The control system is composed of centre control module, locomotion control module and locomotion module which takes charge of the highest decision making and locomotion control of the every leg respectively. This control strategy and the embedded control system adopted in the robot provide powerful ability for dealing with the calculation of kinematics and dynamics that meets the requirement of real-time demand. To validate its effectiveness, the simulation is done and the results show the advantages of high static and dynamic performance, strong anti-disturbability and robustness
{"title":"A FWN-Based Distributed Hierarchical System for Hexapod Bio-Robot Control","authors":"Qingsheng Luo, Baoling Han, X. Mao, Kun Wu, X. Duan","doi":"10.1109/WCICA.2006.1713729","DOIUrl":"https://doi.org/10.1109/WCICA.2006.1713729","url":null,"abstract":"The hexapod bio-robot possess significant advantages on uneven surfaces compared with other type locomotion systems. It has the ability of adapting itself to complex terrains in the way of imitating walking insects. A large computational capability, real-time control and advanced control strategy is required to coordinate many degrees-of-freedom (DOF) used in legged locomotion systems. In this paper a mechanical structure is presented which is controlled by the FWN-based distributed hierarchical control method based on human nervous system principal. The control system is composed of centre control module, locomotion control module and locomotion module which takes charge of the highest decision making and locomotion control of the every leg respectively. This control strategy and the embedded control system adopted in the robot provide powerful ability for dealing with the calculation of kinematics and dynamics that meets the requirement of real-time demand. To validate its effectiveness, the simulation is done and the results show the advantages of high static and dynamic performance, strong anti-disturbability and robustness","PeriodicalId":375135,"journal":{"name":"2006 6th World Congress on Intelligent Control and Automation","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-10-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124617495","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 : 2006-10-23DOI: 10.1109/WCICA.2006.1712920
Huawei Chen, Hualan Zhong, H. Yuan, F. Jin
This paper proposes a new training algorithm called bi-phases weights' adjusting (BPWA) for feedforward neural networks. Unlike BP learning algorithm, BPWA can adjust the weights during both forward phase and backward phase. The algorithm computes the minimum norm square solution as the weights between the hidden layer and output layer in the forward pass, while the backward pass, on the other hand, adjusts other weights in the network according to error gradient descent method. The experimental results based on function approximation and classification tasks show that new algorithm is able to achieve faster converging speed with good generalization performance when compared with the BP and Levenberg-Marquardt BP algorithm
{"title":"A Fast Learning Strategy for Multilayer Feedforward Neural Networks","authors":"Huawei Chen, Hualan Zhong, H. Yuan, F. Jin","doi":"10.1109/WCICA.2006.1712920","DOIUrl":"https://doi.org/10.1109/WCICA.2006.1712920","url":null,"abstract":"This paper proposes a new training algorithm called bi-phases weights' adjusting (BPWA) for feedforward neural networks. Unlike BP learning algorithm, BPWA can adjust the weights during both forward phase and backward phase. The algorithm computes the minimum norm square solution as the weights between the hidden layer and output layer in the forward pass, while the backward pass, on the other hand, adjusts other weights in the network according to error gradient descent method. The experimental results based on function approximation and classification tasks show that new algorithm is able to achieve faster converging speed with good generalization performance when compared with the BP and Levenberg-Marquardt BP algorithm","PeriodicalId":375135,"journal":{"name":"2006 6th World Congress on Intelligent Control and Automation","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-10-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124754105","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 : 2006-10-23DOI: 10.1109/WCICA.2006.1712586
Shuli Sun
Based on white noise estimators and the optimal fusion algorithm in the LMV (linear minimum variance) sense, distributed optimal fusion steady-state smoothers with scalar weights are given for all components of discrete multichannel ARMA (autoregressive moving average) signals with correlated noises. The precision of the fusion smoothers is higher than that of local smoothers, but is lower than that of the fusion smoother with matrix weights. However, the computational burden can be reduced since only scalar weights are required. Applying it to a double-channel ARMA signal system with three sensors shows the effectiveness
{"title":"Optimal Component Fusion Steady-State Smoothing for Discrete Multichannel ARMA Signals","authors":"Shuli Sun","doi":"10.1109/WCICA.2006.1712586","DOIUrl":"https://doi.org/10.1109/WCICA.2006.1712586","url":null,"abstract":"Based on white noise estimators and the optimal fusion algorithm in the LMV (linear minimum variance) sense, distributed optimal fusion steady-state smoothers with scalar weights are given for all components of discrete multichannel ARMA (autoregressive moving average) signals with correlated noises. The precision of the fusion smoothers is higher than that of local smoothers, but is lower than that of the fusion smoother with matrix weights. However, the computational burden can be reduced since only scalar weights are required. Applying it to a double-channel ARMA signal system with three sensors shows the effectiveness","PeriodicalId":375135,"journal":{"name":"2006 6th World Congress on Intelligent Control and Automation","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-10-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129441176","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 : 2006-10-23DOI: 10.1109/WCICA.2006.1714103
Qing He, Zhi Zhang, D. Du, W. Zhen
In order to compare and analyze signals, it is usually necessary to acquire simultaneously and analyze multi-channel signals in practice and study, such as condition monitoring, fault diagnosis, automatic control, and so on. A high-speed four-channel simultaneous data acquisition system, based on DSP, USB 2.0 and CPLD, has been developed. This system takes full advantages of the ability of high-speed processing and analyzing of DSP, and of high-speed communication of USB 2.0. These make the system has an excellent integrative performance, meets the demands of the high-speed multi-channel simultaneous-acquisition. The system is smart, portable and flexible. A virtual dynamic signal analyzer based on this system has been developed
{"title":"Research on High-Speed Multi-Channel Simultaneous Data Acquisition System","authors":"Qing He, Zhi Zhang, D. Du, W. Zhen","doi":"10.1109/WCICA.2006.1714103","DOIUrl":"https://doi.org/10.1109/WCICA.2006.1714103","url":null,"abstract":"In order to compare and analyze signals, it is usually necessary to acquire simultaneously and analyze multi-channel signals in practice and study, such as condition monitoring, fault diagnosis, automatic control, and so on. A high-speed four-channel simultaneous data acquisition system, based on DSP, USB 2.0 and CPLD, has been developed. This system takes full advantages of the ability of high-speed processing and analyzing of DSP, and of high-speed communication of USB 2.0. These make the system has an excellent integrative performance, meets the demands of the high-speed multi-channel simultaneous-acquisition. The system is smart, portable and flexible. A virtual dynamic signal analyzer based on this system has been developed","PeriodicalId":375135,"journal":{"name":"2006 6th World Congress on Intelligent Control and Automation","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-10-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129485467","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}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：