Pub Date : 2016-08-01DOI: 10.1109/ICINFA.2016.7832071
Weilong Huang, Lizuo Jin, Yi Luo, Yawei Li, Tong Cui
Abandoned object detection is a crucial problem in many computer vision tasks. Traditional method based on foreground/background extraction techniques leads to a high false alarm rate. In this paper, we propose a novel detection algorithm based on change detection and blob separation. Our proposed approach suits more practical scenarios in which objects located near each other. Experiments are conducted on several well-known benchmarks to validate the efficacy of the algorithm proposed in this paper.
{"title":"A novel algorithm for abandoned object detection","authors":"Weilong Huang, Lizuo Jin, Yi Luo, Yawei Li, Tong Cui","doi":"10.1109/ICINFA.2016.7832071","DOIUrl":"https://doi.org/10.1109/ICINFA.2016.7832071","url":null,"abstract":"Abandoned object detection is a crucial problem in many computer vision tasks. Traditional method based on foreground/background extraction techniques leads to a high false alarm rate. In this paper, we propose a novel detection algorithm based on change detection and blob separation. Our proposed approach suits more practical scenarios in which objects located near each other. Experiments are conducted on several well-known benchmarks to validate the efficacy of the algorithm proposed in this paper.","PeriodicalId":389619,"journal":{"name":"2016 IEEE International Conference on Information and Automation (ICIA)","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115148429","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 : 2016-08-01DOI: 10.1109/ICINFA.2016.7832026
Shanzhong Liu, Ling Wei, Yongbin Liu
The performance of the controller is the key to ensure that the missile has a good stability and controllability in the guidance of flight. Without considering the coupling among channels, the three-channel missile body mathematical model of BTT-90 missile is established, and the model is based on BTT control technology. The Backstepping controller is designed and BTT-90 missile closed loop control system is constructed respectively. The result of simulation analysis shows that the control system can track the command signal rapidly, and has good dynamic and steady-state characteristics.
{"title":"The design of backstepping controller based on BTT missile","authors":"Shanzhong Liu, Ling Wei, Yongbin Liu","doi":"10.1109/ICINFA.2016.7832026","DOIUrl":"https://doi.org/10.1109/ICINFA.2016.7832026","url":null,"abstract":"The performance of the controller is the key to ensure that the missile has a good stability and controllability in the guidance of flight. Without considering the coupling among channels, the three-channel missile body mathematical model of BTT-90 missile is established, and the model is based on BTT control technology. The Backstepping controller is designed and BTT-90 missile closed loop control system is constructed respectively. The result of simulation analysis shows that the control system can track the command signal rapidly, and has good dynamic and steady-state characteristics.","PeriodicalId":389619,"journal":{"name":"2016 IEEE International Conference on Information and Automation (ICIA)","volume":"101 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127163104","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 : 2016-08-01DOI: 10.1109/ICINFA.2016.7831848
Longhua Ma, Shaohui Huang, Ming Xu, Jizhuang Zhao
With The structural design of the INS-aided (Inertial Navigation System-aided) receiver tracking loops is the main part of implementing an SINS(Strapdown Inertial Navigation System)/GPS Ultra-Tightly Coupled Integrated Navigation System, and the loop bandwidth is the key factor to determine the performance of the tracking loop. Considering satellite signals are easy to be out of locking in high dynamic environment, the INS Velocity Information receiver tracking loops to increase the effective bandwidth of tracking loop is designed in this paper. The Simulation results show that inter-restricted relationship between the thermal agitation noise error and the dynamic stress error in the carrier tracking loop.
{"title":"Tracking loops design and bandwidth optimization for SINS-aided GPS receiver","authors":"Longhua Ma, Shaohui Huang, Ming Xu, Jizhuang Zhao","doi":"10.1109/ICINFA.2016.7831848","DOIUrl":"https://doi.org/10.1109/ICINFA.2016.7831848","url":null,"abstract":"With The structural design of the INS-aided (Inertial Navigation System-aided) receiver tracking loops is the main part of implementing an SINS(Strapdown Inertial Navigation System)/GPS Ultra-Tightly Coupled Integrated Navigation System, and the loop bandwidth is the key factor to determine the performance of the tracking loop. Considering satellite signals are easy to be out of locking in high dynamic environment, the INS Velocity Information receiver tracking loops to increase the effective bandwidth of tracking loop is designed in this paper. The Simulation results show that inter-restricted relationship between the thermal agitation noise error and the dynamic stress error in the carrier tracking loop.","PeriodicalId":389619,"journal":{"name":"2016 IEEE International Conference on Information and Automation (ICIA)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127376100","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 : 2016-08-01DOI: 10.1109/ICINFA.2016.7831807
Jiao Ren, Du-Xin Liu, Kang Li, Jia Liu, Yachun Feng, Xiaoxin Lin
Aiming at the attitude stabilization and angle tracking control of quadrotor aircraft, an optimized cascade double-loop PI-PID controller is proposed. It is based on strong coupling and nonlinear dynamic model in this paper. A PI controller acts as an outer loop controller, which controls primary physical parameter, namely the attitude. The other PID controller acts as an inner loop controller, which reads the output of outer loop controller as setpoint, controlling a rapid changing parameter, namely angular velocity. Hardware debugging platform is established to verify the controller. The results of simulation experiments show that the proposed controller is highly adaptable and has fast response. And the superior dynamic and stabilization performance is proved by the pole-zero maps and bode diagrams.
{"title":"Cascade PID controller for quadrotor","authors":"Jiao Ren, Du-Xin Liu, Kang Li, Jia Liu, Yachun Feng, Xiaoxin Lin","doi":"10.1109/ICINFA.2016.7831807","DOIUrl":"https://doi.org/10.1109/ICINFA.2016.7831807","url":null,"abstract":"Aiming at the attitude stabilization and angle tracking control of quadrotor aircraft, an optimized cascade double-loop PI-PID controller is proposed. It is based on strong coupling and nonlinear dynamic model in this paper. A PI controller acts as an outer loop controller, which controls primary physical parameter, namely the attitude. The other PID controller acts as an inner loop controller, which reads the output of outer loop controller as setpoint, controlling a rapid changing parameter, namely angular velocity. Hardware debugging platform is established to verify the controller. The results of simulation experiments show that the proposed controller is highly adaptable and has fast response. And the superior dynamic and stabilization performance is proved by the pole-zero maps and bode diagrams.","PeriodicalId":389619,"journal":{"name":"2016 IEEE International Conference on Information and Automation (ICIA)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126077934","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 : 2016-08-01DOI: 10.1109/ICINFA.2016.7832136
Enas Tarawneh, D. Perrett, Jaspal Singh, Robert Codd-Downey, Masoud Hoveidar-Sefid, Shreyansh Jain Jeetmal, M. Jenkin
The Sailing Stone project animates a stone sculpture such that a traditional, large scale, normally static installation physically interacts with the public. The Sailing Stone moves so as to disrupt the normal motion of visitors to the space so as to encourage changes in the nature of the interaction between visitors and the sculpture itself. The public gallery space is monitored through a network of video cameras, and this information is used to develop a model of human motion through the gallery space. Based on this model of visitor motion, a motion plan is developed and executed for the sculpture so as to maximally disrupt the motion paths of visitors.
{"title":"Moving the sailing stone","authors":"Enas Tarawneh, D. Perrett, Jaspal Singh, Robert Codd-Downey, Masoud Hoveidar-Sefid, Shreyansh Jain Jeetmal, M. Jenkin","doi":"10.1109/ICINFA.2016.7832136","DOIUrl":"https://doi.org/10.1109/ICINFA.2016.7832136","url":null,"abstract":"The Sailing Stone project animates a stone sculpture such that a traditional, large scale, normally static installation physically interacts with the public. The Sailing Stone moves so as to disrupt the normal motion of visitors to the space so as to encourage changes in the nature of the interaction between visitors and the sculpture itself. The public gallery space is monitored through a network of video cameras, and this information is used to develop a model of human motion through the gallery space. Based on this model of visitor motion, a motion plan is developed and executed for the sculpture so as to maximally disrupt the motion paths of visitors.","PeriodicalId":389619,"journal":{"name":"2016 IEEE International Conference on Information and Automation (ICIA)","volume":"102 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123698271","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 : 2016-08-01DOI: 10.1109/ICINFA.2016.7831857
Ying Yu, G. Liu, B. Yin, Jiongjie Zhao, Jianjun Wu
For uncertainty relation of the bad weather at sea oil filling process between floating bodies, it is proposed to use the 6-RUS parallel mechanism as the butt joint mechanism to realize the pipeline connection for the first time. The virtual prototype of 6-RUS parallel connection mechanism is established to realize the virtual assembly, which is based on the software of SolidWorks. Based on Simulation SolidWorks software, the finite element model of 6-RUS parallel mechanism is established, and the corresponding stress analysis cloud pictures, displacement and deformation cloud pictures are obtained, which provides a basis for further optimization of the mechanism.
{"title":"Design and finite element analysis of 6-RUS parallel connection mechanism","authors":"Ying Yu, G. Liu, B. Yin, Jiongjie Zhao, Jianjun Wu","doi":"10.1109/ICINFA.2016.7831857","DOIUrl":"https://doi.org/10.1109/ICINFA.2016.7831857","url":null,"abstract":"For uncertainty relation of the bad weather at sea oil filling process between floating bodies, it is proposed to use the 6-RUS parallel mechanism as the butt joint mechanism to realize the pipeline connection for the first time. The virtual prototype of 6-RUS parallel connection mechanism is established to realize the virtual assembly, which is based on the software of SolidWorks. Based on Simulation SolidWorks software, the finite element model of 6-RUS parallel mechanism is established, and the corresponding stress analysis cloud pictures, displacement and deformation cloud pictures are obtained, which provides a basis for further optimization of the mechanism.","PeriodicalId":389619,"journal":{"name":"2016 IEEE International Conference on Information and Automation (ICIA)","volume":"66 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115193029","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 : 2016-08-01DOI: 10.1109/ICINFA.2016.7831922
Haodong Chen, Qing He, Guan Guan, Xian Wu, T. Xu, Yanghong Zhang, Haibin Wang
In order to recognizing the feature of abnormality in advance and fix the possible dirty data simultaneously, this article proposed a method to construct a proper mode for a production process producing specific product, a method to estimate the stability of a linear process and a group of data cleaning rule. Both the data processing procedure and algorithm are given detailedly with some samples and mathematical derivation in this article.
{"title":"A data processing method for chemical industry based on sensor data and process monitoring","authors":"Haodong Chen, Qing He, Guan Guan, Xian Wu, T. Xu, Yanghong Zhang, Haibin Wang","doi":"10.1109/ICINFA.2016.7831922","DOIUrl":"https://doi.org/10.1109/ICINFA.2016.7831922","url":null,"abstract":"In order to recognizing the feature of abnormality in advance and fix the possible dirty data simultaneously, this article proposed a method to construct a proper mode for a production process producing specific product, a method to estimate the stability of a linear process and a group of data cleaning rule. Both the data processing procedure and algorithm are given detailedly with some samples and mathematical derivation in this article.","PeriodicalId":389619,"journal":{"name":"2016 IEEE International Conference on Information and Automation (ICIA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122955289","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 : 2016-08-01DOI: 10.1109/ICINFA.2016.7831931
S. Jia, Boyang Li, Guoliang Zhang, Xiuzhi Li
In dense 3D SLAM (simultaneous localization and mapping), the use of RGB-D data to realize SLAM has become more widespread. In this paper, PRKF (the precise and robust KinectFusion) is proposed. On the basis of KinectFusion, the graph optimization based on g2o (general graph optimization) is added to the PRKF. In the g2o optimization policy, in order to achieve the rapid optimization of error accumulation, this paper proposes a model based on the registration model for model loop optimization. The Kinect sensor is carried by the Pioeer3-DX to establish the map of LAB in real time. In addition, public data sets FR1 is used to compare KinectFusion with the PRKF in this paper. The experiments have proved that the algorithm is robust and has high precision.
在密集三维SLAM (simultaneous localization and mapping)中，利用RGB-D数据实现SLAM已经越来越普遍。本文提出了精确鲁棒的KinectFusion (PRKF)算法。在KinectFusion的基础上，在PRKF中加入了基于g20(通用图优化)的图优化。在g20优化策略中，为了实现误差积累的快速优化，本文提出了一种基于配准模型的模型环优化模型。Pioeer3-DX携带Kinect传感器，实时建立LAB地图。此外，本文还使用公共数据集FR1对KinectFusion和PRKF进行了比较。实验证明，该算法具有较好的鲁棒性和较高的精度。
{"title":"Improved KinectFusion based on graph-based optimization and large loop model","authors":"S. Jia, Boyang Li, Guoliang Zhang, Xiuzhi Li","doi":"10.1109/ICINFA.2016.7831931","DOIUrl":"https://doi.org/10.1109/ICINFA.2016.7831931","url":null,"abstract":"In dense 3D SLAM (simultaneous localization and mapping), the use of RGB-D data to realize SLAM has become more widespread. In this paper, PRKF (the precise and robust KinectFusion) is proposed. On the basis of KinectFusion, the graph optimization based on g2o (general graph optimization) is added to the PRKF. In the g2o optimization policy, in order to achieve the rapid optimization of error accumulation, this paper proposes a model based on the registration model for model loop optimization. The Kinect sensor is carried by the Pioeer3-DX to establish the map of LAB in real time. In addition, public data sets FR1 is used to compare KinectFusion with the PRKF in this paper. The experiments have proved that the algorithm is robust and has high precision.","PeriodicalId":389619,"journal":{"name":"2016 IEEE International Conference on Information and Automation (ICIA)","volume":"174 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122992607","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 : 2016-08-01DOI: 10.1109/ICINFA.2016.7831963
Lin Lin, Weixing Lin, Xuhua Shi, Tao Wang
This paper presents a new algorithm of parameter and state estimation based on the Modified Cooperative Particle Swarm Optimization (MCPSO). Through modern control theory, the convergence and parameters setting rule of the algorithm is analyzed and a good optimization performance is shown from the given test functions. By minimizing the estimation states error covariance matrix for canonical state space models, the system states are computed by using the estimated parameters. Finally, a valuable simulation example is provided to show the validity and robustness of the new proposed algorithm.
{"title":"An improved swarm intelligence algorithm for multirate systems state estimation using the canonical state space models","authors":"Lin Lin, Weixing Lin, Xuhua Shi, Tao Wang","doi":"10.1109/ICINFA.2016.7831963","DOIUrl":"https://doi.org/10.1109/ICINFA.2016.7831963","url":null,"abstract":"This paper presents a new algorithm of parameter and state estimation based on the Modified Cooperative Particle Swarm Optimization (MCPSO). Through modern control theory, the convergence and parameters setting rule of the algorithm is analyzed and a good optimization performance is shown from the given test functions. By minimizing the estimation states error covariance matrix for canonical state space models, the system states are computed by using the estimated parameters. Finally, a valuable simulation example is provided to show the validity and robustness of the new proposed algorithm.","PeriodicalId":389619,"journal":{"name":"2016 IEEE International Conference on Information and Automation (ICIA)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114191792","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 : 2016-08-01DOI: 10.1109/ICINFA.2016.7831887
Wentai Qu, Feiqing Wu
The brushless DC motor (BLDCM) is mostly used as the In-Wheel-motor of distributed-driven electric vehicles. Due to operating environment harsh, the BLDCM-EV frequently is in the trouble of single-winding-broken-fault (SWBF). Once the SWBF occurs, it would result in the BLDCM-EV torque huge fluctuation and even the EV is out of control. In this paper, the fluctuation mechanism of electromagnetic torque of BLDCM-EV is studied at both the normal operating mode and the fault operating mode. According to the study, the three phase currents of BLDCM-EV become asymmetrical and unbalance in SWBF, which leads to huge fluctuation of electromagnetic torque. For this reason, a novel fault tolerant control strategy of the two-phase-four-state operation mode is proposed which is based on an inverter topology of three-phase-four-leg. In the normal operation mode, the inverter works at the three-phase-six-state operation mode, whereas in the SWBF mode, the inverter works at the two-phase-four-state operation mode. In addition, the key of the strategy is a proposed new current control algorithm of subsection nonsingular terminal sliding mode control (SNSMC), which can be designed according to the different time segments of motor currents. By the control algorithm, the average output torque of BLDCM-EV can be improved and maintained a constant with a few little ripples; thus, the vibration and the power loss of the electric vehicle are avoided.
{"title":"Subsection nonsingular terminal sliding mode control for single winding broken fault of in-wheel-motor of electric vehicle","authors":"Wentai Qu, Feiqing Wu","doi":"10.1109/ICINFA.2016.7831887","DOIUrl":"https://doi.org/10.1109/ICINFA.2016.7831887","url":null,"abstract":"The brushless DC motor (BLDCM) is mostly used as the In-Wheel-motor of distributed-driven electric vehicles. Due to operating environment harsh, the BLDCM-EV frequently is in the trouble of single-winding-broken-fault (SWBF). Once the SWBF occurs, it would result in the BLDCM-EV torque huge fluctuation and even the EV is out of control. In this paper, the fluctuation mechanism of electromagnetic torque of BLDCM-EV is studied at both the normal operating mode and the fault operating mode. According to the study, the three phase currents of BLDCM-EV become asymmetrical and unbalance in SWBF, which leads to huge fluctuation of electromagnetic torque. For this reason, a novel fault tolerant control strategy of the two-phase-four-state operation mode is proposed which is based on an inverter topology of three-phase-four-leg. In the normal operation mode, the inverter works at the three-phase-six-state operation mode, whereas in the SWBF mode, the inverter works at the two-phase-four-state operation mode. In addition, the key of the strategy is a proposed new current control algorithm of subsection nonsingular terminal sliding mode control (SNSMC), which can be designed according to the different time segments of motor currents. By the control algorithm, the average output torque of BLDCM-EV can be improved and maintained a constant with a few little ripples; thus, the vibration and the power loss of the electric vehicle are avoided.","PeriodicalId":389619,"journal":{"name":"2016 IEEE International Conference on Information and Automation (ICIA)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114479356","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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