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2016 International Conference on Control, Automation and Information Sciences (ICCAIS)最新文献

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Multiple resolvable group target estimation using graph theory and the multi-Bernoulli filter 基于图论和多重伯努利滤波器的多可分辨群目标估计
Weifeng Liu, Shujun Zhu, Chenglin Wen
This paper considers multiple resolvable group target estimation under clutter environment. We first build the structure for the resolvable group targets using graph theory. Then, the group estimation involves two stages of the target state estimation and group state (group size, shape, etc) estimation. In the first stage, based on the given group dynamic models, we derive the target estimated state set and the number of targets by using the multi-Bernoulli filter under the assumption of independence of all targets. In the second stage, we combine the graph theory with the group targets and build the adjacency matrix of the estimated state set. We thus get the number of the subgroups, the group state, the group sizes and its structures. Finally, a linear and a non-linear examples are given to verify the proposed algorithm, respectively.
研究了杂波环境下的多可分辨群目标估计问题。首先利用图论构造了可解群目标的结构。然后,群体估计包括目标状态估计和群体状态(群体大小、形状等)估计两个阶段。第一阶段,在给定群体动态模型的基础上,在所有目标独立的假设下,利用多重伯努利滤波器导出目标估计状态集和目标数量;在第二阶段,我们将图论与群体目标相结合,建立估计状态集的邻接矩阵。这样我们就得到了子群的数量、群的状态、群的大小和结构。最后,分别给出了一个线性和非线性的算例来验证所提出的算法。
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引用次数: 2
3D robotic welding with a laser profile scanner 三维机器人焊接与激光轮廓扫描仪
Michal Chaluš, J. Liška
This paper describes the design and development of a cognitive module for 3D robotic welding using TIG or laser technology. This area is constantly evolving with the needs to solve complex problems of welding automatization and robotization, and also thanks to the continuous advances in measurement technology and robotics. Besides the use of welding robots for serial production with dedicated tightly defined trajectories, systems for automatic welding of a previously undefined path or paths, which the operator can't manually define because of its complexity, are developed. This paper covers the general description of the cognitive module and its required functions. After that, the procedure for 3D robotic welding with a laser profile scanner is described in more detail. The task of controlling the end effector of the robot during the welding process is described. Then an algorithm for 3D model construction based on data from the profile scanner is presented. Development of the cognitive module prototype with use of a 2D profile scanner led to experimental evaluation of its function in the task of automatic cavity repair, which is discussed in the last part of the paper.
本文介绍了一种基于TIG或激光技术的三维机器人焊接认知模块的设计与开发。由于测量技术和机器人技术的不断进步,这一领域不断发展,需要解决焊接自动化和机器人化的复杂问题。除了使用具有专用严格定义轨迹的焊接机器人进行批量生产外,还开发了用于先前未定义路径或路径的自动焊接系统,这些路径由于其复杂性而无法由操作员手动定义。本文介绍了认知模块的总体描述及其所需要的功能。在此之后,对激光轮廓扫描仪的三维机器人焊接过程进行了更详细的描述。描述了焊接过程中机器人末端执行器的控制任务。然后提出了一种基于轮廓扫描仪数据的三维模型构建算法。利用二维轮廓扫描仪开发认知模块原型,并对其在腔体自动修复任务中的功能进行实验评估,这在论文的最后一部分进行了讨论。
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引用次数: 1
Tracking splitting targets in clutter using the CBMeMBer filter 使用CBMeMBer过滤器跟踪杂波中的分裂目标
Yifan Xie, H. Kim, T. Song
For splitting target tracking, the target may split into several such that estimating the states of all targets respon-sively and accurately becomes crucial. The standard formulation of the CBMeMBer filter assumes that the target birth intensity is known as a priori. In consideration of the fact that the target splitting event should be random and could happen at an arbitrary position, this assumption becomes unrealistic. In this paper we apply the adaptive birth distribution to solve the problem of tracking splitting targets. The adaptive birth method is turned out to be more suitable to the splitting target problem. The performance is evaluated by the Optimal Sub-pattern Assignment(OSPA) metric and cardinality estimate. Simulations show that the adaptive birth CBMeMBer is responsive to the changes in cardinality with small OSPA distance.
在分割目标跟踪中,目标可能会分裂成多个目标,因此快速准确地估计所有目标的状态就变得至关重要。CBMeMBer过滤器的标准公式假设目标出生强度是已知的先验。考虑到目标分裂事件应该是随机的,可以发生在任意位置,这个假设就变得不现实了。本文采用自适应出生分布来解决分裂目标的跟踪问题。结果表明,自适应出生方法更适合于目标分裂问题。通过最优子模式分配(OSPA)度量和基数估计来评估性能。仿真结果表明,自适应出生CBMeMBer在较小的OSPA距离下对基数的变化有较好的响应。
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引用次数: 0
Conditional marked point process-based crowd counting in sparsely and moderately crowded scenes 稀疏和中等拥挤场景中基于条件标记点过程的人群计数
Yongsang Yoon, Jeonghwan Gwak, Jong-In Song, M. Jeon
Crowd density estimation for counting persons, or for determining interactions among persons, groups of people, or crowds has been a challenging problem since persons can be occluded by other persons in (highly) crowded situations. The successful development of such techniques has diverse purposes, such as reassigning limited resources (e.g., public transportation) properly by counting floating population or categorizing the type of events based on the identification of crowd interactions. While existing counting approaches are mostly based on regression models that directly map features to the corresponding class labels, we propose a conditional marked point process (CMPP)-based approach to count individual persons even in moderately crowded scenes. We use a mixture of Bernoulli shape, which is a stochastic model, estimated from the training set with extrinsic shape distribution that determines the size of a shape for the given location in an input image to count the proper number of persons in different types of scenes. The experiment was carried out on PETS2009 which is a well-known public dataset. It was concluded from the experimental results that the proposed approach can be an alternative to the conventional MPP-based approaches.
人群密度估计用于计算人数,或用于确定个人、人群或人群之间的相互作用一直是一个具有挑战性的问题,因为在(高度)拥挤的情况下,人们可能会被其他人遮挡。这些技术的成功发展具有多种目的,例如通过计算流动人口或根据确定人群相互作用对事件类型进行分类,适当地重新分配有限的资源(例如,公共交通)。虽然现有的计数方法大多基于直接将特征映射到相应的类标签的回归模型,但我们提出了一种基于条件标记点过程(CMPP)的方法,即使在适度拥挤的场景中也可以对个体进行计数。我们使用伯努利形状的混合,这是一种随机模型,从具有外部形状分布的训练集估计,确定输入图像中给定位置的形状大小,以计算不同类型场景中的适当人数。实验在著名的公共数据集PETS2009上进行。实验结果表明,该方法可以替代传统的基于mpp的方法。
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引用次数: 4
A novel filtering approach for dynamic pulse signal based on parameters self-adjusting integer-coefficients filter 一种基于参数自调整整系数滤波器的动态脉冲信号滤波新方法
Yongxin Chou, Benlian Xu, Ruilei Zhang, Yufeng Feng, Yi Jin
The signal to noise ratio (SNR) of dynamic pulse signal is time-varying, which influence the results of common used filtering methods. On the basis of integer-coefficients digital filter, in this study, we proposed a new approach can adjust the parameters of filter by the smooth degree of pulse signal. Moreover, the proposed method and three common used filtering methods: integer-coefficients digital filter, empirical mode decomposition) (EMD) filter and morphological filter are employed to suppress the noise and interference in the simulated and measured pulse signals. The results show that the proposed method can suppress the noise and interference of pulse signal effectively and can be used in dynamic pulse signal filtering.
动态脉冲信号的信噪比具有时变特性,影响了常用滤波方法的滤波效果。本文在整系数数字滤波器的基础上,提出了一种利用脉冲信号的平滑程度来调整滤波器参数的新方法。此外,本文提出的方法和常用的三种滤波方法:整数系数数字滤波、经验模态分解(EMD)滤波和形态滤波对仿真和测量脉冲信号中的噪声和干扰进行了抑制。结果表明,该方法能有效地抑制脉冲信号中的噪声和干扰,可用于脉冲信号的动态滤波。
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引用次数: 4
Automatic wireless drone charging station creating essential environment for continuous drone operation 无人机无线自动充电站,为无人机持续运行创造必要环境
C. Choi, Hyeon Jun Jang, Seong Gyu Lim, Hyun Chul Lim, S. Cho, I. Gaponov
With a dramatic growth in the drone market in recent years, the amount of research efforts dedicated to drones increases correspondingly. However, short battery life severely restricts applications of the unmanned aerial vehicles and has proven to be a hard issue to tackle. Among various solutions for this problem, an automatic drone charging station can be utilized. This paper proposes a fully automatic charging station which operates wirelessly. The station also allows for imprecise landing of the UAV on the platform, which is often the case for practical systems. Application of the proposed charging station may completely eliminate the need in manual battery charging of the quadrotor UAVs.
随着近年来无人机市场的急剧增长,致力于无人机的研究工作也相应增加。然而,电池寿命短严重限制了无人机的应用,并已被证明是一个难以解决的问题。在解决这个问题的各种方案中,可以利用无人机自动充电站。本文提出了一种无线操作的全自动充电站。该站也允许无人机在平台上的不精确着陆,这通常是实际系统的情况。该充电站的应用可以完全消除四旋翼无人机手动充电的需要。
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引用次数: 69
Time-optimal path tracking for articulated robot along spline curves based on master-slave strategy 基于主从策略的关节机器人样条曲线时间最优路径跟踪
Xiaojing Yu, Xiaoqi Tang, Bosheng Ye, Bao Song, Xiangdong Zhou
Path tracking, as a subproblem in trajectory planning, is one of the most significant topics in robot researches. In this paper, a time-optimal trajectory planner is proposed, which tracks the specified B-spline path with limit jerk. This planner utilizes the master-slave strategy to plan trajectory for all axes. In the preprocessing stage, switching points are divided into two types: critical points and axis switching points. By detailed classification and S-shape velocity planning of adjacent critical points, the continuous turning problem in B-spline curves is solved. In order to reduce the global execution time under the physical constraints, an iterative optimization method is employed in the velocity profile and the bang-bang control with limit jerk is realized. The proposed algorithms are simulated on a manipulator model with three links. The result shows that the algorithms can be applied to complex B-spline path tracking and generate trajectory for each axis under jerk constraint, which reduces the vibration effectively.
路径跟踪作为轨迹规划中的子问题,是机器人研究的重要课题之一。本文提出了一种时间最优轨迹规划器,该规划器对给定的b样条路径进行了极限扰动跟踪。该规划器利用主从策略来规划所有轴的轨迹。在预处理阶段,开关点分为临界点和轴开关点两种类型。通过对b样条曲线相邻临界点的详细分类和s形速度规划,解决了b样条曲线连续车削问题。为了减少物理约束下的全局执行时间,在速度剖面中采用迭代优化方法,实现了带极限加推力的砰砰控制。在具有三连杆的机械臂模型上对所提出的算法进行了仿真。结果表明,该算法可用于复杂的b样条轨迹跟踪,并在加振约束下生成各轴的轨迹,有效地降低了振动。
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引用次数: 1
Centralized multi-sensor multi-target tracking with labeled random finite sets 带标记随机有限集的多传感器多目标集中跟踪
B. Wei, B. Nener, Weifeng Liu, Liang Ma
This paper addresses the problem of multi-sensor multi-target tracking. The main contribution is an efficient implementation of the multi-sensor δ-Generalized labeled Multi-Bernoulli (δ-GLMB) update. To truncate the weighted sums of the multi-target exponentials, the ranked assignment algorithm is used in the update to determine the most important terms without computing all the terms. Simulation experiments via linear Gaussian mixture models confirm the effectiveness of the proposed algorithm.
本文研究了多传感器多目标跟踪问题。主要贡献是有效地实现了多传感器δ-广义标记多伯努利(δ-GLMB)更新。为了截断多目标指数的加权和,在更新中使用排序分配算法来确定最重要的项,而不计算所有项。通过线性高斯混合模型的仿真实验验证了该算法的有效性。
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引用次数: 14
Security through obscurity: Integrated circuit obfuscation using don't care conditions 安全性通过模糊:集成电路模糊使用不关心的条件
S. Awan, Sidra Rashid, Mingze Gao, G. Qu
Obfuscation has emerged as a promising approach to ensure supply chain security by countering the reverse engineering (RE) based attacks on integrated circuits that violate intellectual property rights of the circuit designer. However, current obfuscation methods either rely on secure memory to store the key or incur large design overhead with camouflaged gates. We propose a set of don't care based obfuscation primitives and show how they can be used to make the design IP secure with little area and delay overhead. While existing logic obfuscation techniques rely on hiding layout information from circuit attackers, our approach is different in that we introduce confusion in the sub-circuit functionality in order to increase the RE complexity while meeting the overall circuit specification. We also study how to maximize the complexity of the RE attacks and incorporate the conclusion of such a study into the proposed don't care based obfuscation method. Simulation results for ISCAS-85 benchmarks confirm that we can achieve circuit obfuscation with very high RE complexity and small design overhead, more specifically, an average 7.73% delay overhead and 5.51% area overhead.
混淆已经成为一种有前途的方法,通过对抗基于逆向工程(RE)的对侵犯电路设计者知识产权的集成电路的攻击来确保供应链安全。然而,当前的混淆方法要么依赖于安全内存来存储密钥,要么使用伪装的门带来巨大的设计开销。我们提出了一组基于不关心的混淆原语,并展示了如何使用它们使设计IP在很小的面积和延迟开销下安全。虽然现有的逻辑混淆技术依赖于隐藏电路攻击者的布局信息,但我们的方法是不同的,因为我们在子电路功能中引入混淆,以便在满足整体电路规范的同时增加正则复杂性。我们还研究了如何最大限度地提高RE攻击的复杂性,并将这样的研究结论纳入到提出的基于不在乎的混淆方法中。ISCAS-85基准测试的仿真结果证实,我们可以以非常高的复用复杂度和很小的设计开销实现电路混淆,更具体地说,平均延迟开销为7.73%,面积开销为5.51%。
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引用次数: 5
A novel spaceborne SAR imaging mode for moving target velocity estimation 一种新的星载SAR运动目标速度估计成像模式
Wei Yang, Xiaocong Ma
In this paper, a novel spaceborne SAR imaging mode is proposed. In this mode, sensor illuminates the scene with different azimuth squint angles and obtains a series of sequential images. According to the working mechanism of the mode, the geometry model is built first. Based on the geometry model, the characteristics of signal are analyzed in detail, which reveals principle of velocity estimation. Moreover, combined with image formation processing algorithm, moving target velocity estimation method is present. Furthermore, some conclusions are drawn and discussed. Finally, simulation data and TerraSAR-X real data are used for verifying the validity of the method.
提出了一种新的星载SAR成像模式。在这种模式下,传感器以不同的方位斜视角度照射场景,得到一系列连续图像。根据模态的工作机理,建立了模态的几何模型。在几何模型的基础上,详细分析了信号的特征,揭示了速度估计的原理。并结合图像生成处理算法,提出了运动目标速度估计方法。此外,本文还得出了一些结论并进行了讨论。最后,利用仿真数据和TerraSAR-X实际数据验证了方法的有效性。
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引用次数: 0
期刊
2016 International Conference on Control, Automation and Information Sciences (ICCAIS)
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