Pub Date : 2006-12-01DOI: 10.1109/ICARCV.2006.345212
Guoqing Yang, Minde Zhao, Hong Li, Zhaohui Wu
This paper introduces SmartC, a language designed for programming automotive electronics embedded systems such as engine control systems. SmartC is a hierarchical modeling language and implements the SmartOSEK operating system model. The SmartC models are classified into four levels, namely module level, task level, subtask level and component level. In the SmartC models, control-flow oriented models and data-flow oriented models are integrated in the hybrid SmartC models. At the task level, the model is constructed based on the control flow, whereas the component level model is constructed based on the data flow. In SmartC programs, all inter-task communication, task triggering mechanisms, and access to guarded global variables, are automatically generated by the SmartC generator which generates the C code from the SmartC code. Having well-structured concurrency mechanisms, SmartC greatly reduces the risk of concurrency errors, such as deadlock and race conditions. The SmartC language is implemented on the automated manual transmission (AMT) control system and is compatible with the OSEK/VDX specifications. We use a continuous time (CT) model as an example to illustrate the effectiveness of the language
{"title":"SmartC: A Component-Based Hierarchical Modeling Language for Automotive Electronics","authors":"Guoqing Yang, Minde Zhao, Hong Li, Zhaohui Wu","doi":"10.1109/ICARCV.2006.345212","DOIUrl":"https://doi.org/10.1109/ICARCV.2006.345212","url":null,"abstract":"This paper introduces SmartC, a language designed for programming automotive electronics embedded systems such as engine control systems. SmartC is a hierarchical modeling language and implements the SmartOSEK operating system model. The SmartC models are classified into four levels, namely module level, task level, subtask level and component level. In the SmartC models, control-flow oriented models and data-flow oriented models are integrated in the hybrid SmartC models. At the task level, the model is constructed based on the control flow, whereas the component level model is constructed based on the data flow. In SmartC programs, all inter-task communication, task triggering mechanisms, and access to guarded global variables, are automatically generated by the SmartC generator which generates the C code from the SmartC code. Having well-structured concurrency mechanisms, SmartC greatly reduces the risk of concurrency errors, such as deadlock and race conditions. The SmartC language is implemented on the automated manual transmission (AMT) control system and is compatible with the OSEK/VDX specifications. We use a continuous time (CT) model as an example to illustrate the effectiveness of the language","PeriodicalId":415827,"journal":{"name":"2006 9th International Conference on Control, Automation, Robotics and Vision","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129890042","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 : 2006-12-01DOI: 10.1109/ICARCV.2006.345298
Shubin Zhao
Image registration is the process of registering two or more images, which may be acquired under different imaging conditions. The critical issues in image registration are robustness and speed of the algorithm, which most current algorithms are devoted to. In this paper, a robust and efficient algorithm is presented for registering images in Hough space using heuristic approaches. By Hough transform, the main structure of an image can be represented in the position-orientation space. This representation has almost all structural information of the original images, especially for images rich with line segments. This representation allows us to register images efficiently in Hough space rather than in the original image space. To account for differences between the images to be registered, the generalized partial Hausdorff distance is proposed and used to measure the image similarity. In the presented algorithm, the rotation parameter is computed simply by 1D correlation, and other transformation parameters are determined by a new hypothesis-test method, where each hypothesis is generated by a heuristic approach, i.e. random local search. The proposed algorithm has very low computational complexity, and works well for most natural images rich with line segments resulting from man-made structures
{"title":"Hough-Domain Image Registration By Metaheuristics","authors":"Shubin Zhao","doi":"10.1109/ICARCV.2006.345298","DOIUrl":"https://doi.org/10.1109/ICARCV.2006.345298","url":null,"abstract":"Image registration is the process of registering two or more images, which may be acquired under different imaging conditions. The critical issues in image registration are robustness and speed of the algorithm, which most current algorithms are devoted to. In this paper, a robust and efficient algorithm is presented for registering images in Hough space using heuristic approaches. By Hough transform, the main structure of an image can be represented in the position-orientation space. This representation has almost all structural information of the original images, especially for images rich with line segments. This representation allows us to register images efficiently in Hough space rather than in the original image space. To account for differences between the images to be registered, the generalized partial Hausdorff distance is proposed and used to measure the image similarity. In the presented algorithm, the rotation parameter is computed simply by 1D correlation, and other transformation parameters are determined by a new hypothesis-test method, where each hypothesis is generated by a heuristic approach, i.e. random local search. The proposed algorithm has very low computational complexity, and works well for most natural images rich with line segments resulting from man-made structures","PeriodicalId":415827,"journal":{"name":"2006 9th International Conference on Control, Automation, Robotics and Vision","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129891606","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 : 2006-12-01DOI: 10.1109/ICARCV.2006.345244
Ke Zhang, Tianmin Huang, Cuihong Wang
A hybrid five bar actuator is a configuration that combines the motions of two characteristically different electric motors by means of a five bar mechanism to produce programmable output. Hybrid five bar actuator is the most representative one of hybrid actuator. In this paper, the method of kinematics and dynamics analysis for a hybrid five-bar actuator based on power bond graph theory is introduced. The bond graph model is provided. According to bond graph theory and model, dynamics equations can be derived. By means of the method, it is compact and convenient for solving the main driving power, the assist driving power of a hybrid five-bar actuator. The formula of dynamic equations derived here is a regularized one, and this procedure is very suitable for automatic derivation on a computer, obviously enhancing efficiency and reliability of dynamics analysis for hybrid five bar actuator. From this, a numerical example of kinematics and dynamics analysis for a hybrid five-bar actuator is given, and illustrates its validity
{"title":"Kinematics and Dynamics Analysis of a Planar Hybrid Five Bar Actuator","authors":"Ke Zhang, Tianmin Huang, Cuihong Wang","doi":"10.1109/ICARCV.2006.345244","DOIUrl":"https://doi.org/10.1109/ICARCV.2006.345244","url":null,"abstract":"A hybrid five bar actuator is a configuration that combines the motions of two characteristically different electric motors by means of a five bar mechanism to produce programmable output. Hybrid five bar actuator is the most representative one of hybrid actuator. In this paper, the method of kinematics and dynamics analysis for a hybrid five-bar actuator based on power bond graph theory is introduced. The bond graph model is provided. According to bond graph theory and model, dynamics equations can be derived. By means of the method, it is compact and convenient for solving the main driving power, the assist driving power of a hybrid five-bar actuator. The formula of dynamic equations derived here is a regularized one, and this procedure is very suitable for automatic derivation on a computer, obviously enhancing efficiency and reliability of dynamics analysis for hybrid five bar actuator. From this, a numerical example of kinematics and dynamics analysis for a hybrid five-bar actuator is given, and illustrates its validity","PeriodicalId":415827,"journal":{"name":"2006 9th International Conference on Control, Automation, Robotics and Vision","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128245358","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 : 2006-12-01DOI: 10.1109/ICARCV.2006.345251
K. Doki, Naohiro Isetani, A. Torii, A. Ueda
We propose a new image template generation method for the self-position estimation of an autonomous mobile robot. In the proposed method, an image template is generated with genetic algorithm. Then, in the process of the self-position estimation, the size of the image template can be varied in order to change the time for the self-position estimation according to the situation around the robot. Therefore, a suitable image template is searched by GA search as the size of the image is varied. The position of the robot is estimated by matching the input image at the current situation with the stored image templates which indicate certain positions. As a criterion of the template matching, the normalized correlation coefficient is applied. This method is sensitive to the position shift of the image. Therefore, in order to realize the robust self-position estimation for the position shift, the amount of the position shift between the image template and the input image is compensated before the template matching. The usefulness of the proposed method is shown through some experimental results
{"title":"Self-position Estimation of Autonomous Mobile Robot with Size-variable Image Template","authors":"K. Doki, Naohiro Isetani, A. Torii, A. Ueda","doi":"10.1109/ICARCV.2006.345251","DOIUrl":"https://doi.org/10.1109/ICARCV.2006.345251","url":null,"abstract":"We propose a new image template generation method for the self-position estimation of an autonomous mobile robot. In the proposed method, an image template is generated with genetic algorithm. Then, in the process of the self-position estimation, the size of the image template can be varied in order to change the time for the self-position estimation according to the situation around the robot. Therefore, a suitable image template is searched by GA search as the size of the image is varied. The position of the robot is estimated by matching the input image at the current situation with the stored image templates which indicate certain positions. As a criterion of the template matching, the normalized correlation coefficient is applied. This method is sensitive to the position shift of the image. Therefore, in order to realize the robust self-position estimation for the position shift, the amount of the position shift between the image template and the input image is compensated before the template matching. The usefulness of the proposed method is shown through some experimental results","PeriodicalId":415827,"journal":{"name":"2006 9th International Conference on Control, Automation, Robotics and Vision","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129679351","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 : 2006-12-01DOI: 10.1109/ICARCV.2006.345210
Jin Feng, Qu Bo, Z. Kuanyi
It is a known fact that postoperative hypertension is common in cardiac patients and untreated hypertension may result in severe complications. The aim of an automatic drug delivery system is to quickly reduce the oscillatory change in mean blood pressure through infusion of sodium nitroprusside (SNP). In this paper, the design and implementation of such control system using adaptive PI and fuzzy controllers will be investigated. Simulation of the system model will be carried out for demonstration
{"title":"Implementation of Drug Delivery system for blood pressure regulation","authors":"Jin Feng, Qu Bo, Z. Kuanyi","doi":"10.1109/ICARCV.2006.345210","DOIUrl":"https://doi.org/10.1109/ICARCV.2006.345210","url":null,"abstract":"It is a known fact that postoperative hypertension is common in cardiac patients and untreated hypertension may result in severe complications. The aim of an automatic drug delivery system is to quickly reduce the oscillatory change in mean blood pressure through infusion of sodium nitroprusside (SNP). In this paper, the design and implementation of such control system using adaptive PI and fuzzy controllers will be investigated. Simulation of the system model will be carried out for demonstration","PeriodicalId":415827,"journal":{"name":"2006 9th International Conference on Control, Automation, Robotics and Vision","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129776905","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 : 2006-12-01DOI: 10.1109/ICARCV.2006.345176
Anies Hannawati Purnamadjaja, R. Russell
This paper describes an ongoing project to investigate the possibility of using pheromone communication in a robot swarm. The project is inspired by the queen bee pheromone. A queen bee releases pheromones throughout a colony to coordinate the actions of its members. The pheromones have a number of crucial functions in a bee colony, such as keeping together and stabilizing the colony. In the context of a robot swarm, one of the proposed applications for robot pheromones is to allow swarm members to be guided by a robot leader. The robot leader releases different chemicals to elicit different behaviors. In this project, temperature modulation of tin oxide gas sensors have been implemented in order to differentiate different chemicals. This paper provides details of the swarm robots used in the project and their behaviors. The sensors, especially temperature modulation of the tin oxide gas sensors, and the robot control algorithms are described. Results of practical experiments and simulations are also presented
{"title":"Robotic Pheromones: Using Temperature Modulation in Tin Oxide Gas Sensor to Differentiate Swarm's Behaviours","authors":"Anies Hannawati Purnamadjaja, R. Russell","doi":"10.1109/ICARCV.2006.345176","DOIUrl":"https://doi.org/10.1109/ICARCV.2006.345176","url":null,"abstract":"This paper describes an ongoing project to investigate the possibility of using pheromone communication in a robot swarm. The project is inspired by the queen bee pheromone. A queen bee releases pheromones throughout a colony to coordinate the actions of its members. The pheromones have a number of crucial functions in a bee colony, such as keeping together and stabilizing the colony. In the context of a robot swarm, one of the proposed applications for robot pheromones is to allow swarm members to be guided by a robot leader. The robot leader releases different chemicals to elicit different behaviors. In this project, temperature modulation of tin oxide gas sensors have been implemented in order to differentiate different chemicals. This paper provides details of the swarm robots used in the project and their behaviors. The sensors, especially temperature modulation of the tin oxide gas sensors, and the robot control algorithms are described. Results of practical experiments and simulations are also presented","PeriodicalId":415827,"journal":{"name":"2006 9th International Conference on Control, Automation, Robotics and Vision","volume":"72 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127097611","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 : 2006-12-01DOI: 10.1109/ICARCV.2006.345217
A. Ghafoor, V. Sreeram
In this paper, a survey of frequency weighted balanced model reduction techniques is presented. Several comments regarding their properties are given. The techniques are illustrated and compared using a practical numerical example
{"title":"Frequency Weighted Balanced Model Reduction: A Survey","authors":"A. Ghafoor, V. Sreeram","doi":"10.1109/ICARCV.2006.345217","DOIUrl":"https://doi.org/10.1109/ICARCV.2006.345217","url":null,"abstract":"In this paper, a survey of frequency weighted balanced model reduction techniques is presented. Several comments regarding their properties are given. The techniques are illustrated and compared using a practical numerical example","PeriodicalId":415827,"journal":{"name":"2006 9th International Conference on Control, Automation, Robotics and Vision","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129165904","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 : 2006-12-01DOI: 10.1109/ICARCV.2006.345410
Nongliang Sun, Saicong Xu, Maoyong Cao
Gabor filter has been widely used in image processing because of multi-scale, multi-orientation and multi-frequency. To deal with so many parameters, however, especially the frequency parameter, are of great complexity. From the study of one dimensional Gabor filter and its comparison with one dimensional Gauss filter, we proposed a new scheme to simplify its designing work, which mainly deals with the frequency parameter. The filters designed with constrained parameter can approximate the March band effect well. We also applied parameter constraint into 2D Gabor filter designed to reduce the complexity and improve the calculation efficiency. Basing on theoretical analysis and a large amount of experiments, we come to the conclusion that, assisted with rotational filter and Morphological operation, accurate and satisfactory segmentation results can be obtained to the cell images with frequency parameter f taking values between a narrow region. This not only reduces the calculation consumption but also give a direction of how to choose the best segmentation and recognition result
{"title":"Wall-Pasted Cell Segmentation Based on Gabor Filter with Parameter Constraint","authors":"Nongliang Sun, Saicong Xu, Maoyong Cao","doi":"10.1109/ICARCV.2006.345410","DOIUrl":"https://doi.org/10.1109/ICARCV.2006.345410","url":null,"abstract":"Gabor filter has been widely used in image processing because of multi-scale, multi-orientation and multi-frequency. To deal with so many parameters, however, especially the frequency parameter, are of great complexity. From the study of one dimensional Gabor filter and its comparison with one dimensional Gauss filter, we proposed a new scheme to simplify its designing work, which mainly deals with the frequency parameter. The filters designed with constrained parameter can approximate the March band effect well. We also applied parameter constraint into 2D Gabor filter designed to reduce the complexity and improve the calculation efficiency. Basing on theoretical analysis and a large amount of experiments, we come to the conclusion that, assisted with rotational filter and Morphological operation, accurate and satisfactory segmentation results can be obtained to the cell images with frequency parameter f taking values between a narrow region. This not only reduces the calculation consumption but also give a direction of how to choose the best segmentation and recognition result","PeriodicalId":415827,"journal":{"name":"2006 9th International Conference on Control, Automation, Robotics and Vision","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130555857","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 : 2006-12-01DOI: 10.1109/ICARCV.2006.345482
Y. Guan, M. Opas, Y. T. Lee, Y. Cai
This paper reports our 3D reconstruction work of mouse brain cells from a confocal image stack. Gradients at volumetric points are used for boundary surface extraction and structure visualization from 3D volumetric confocal microscopic images. We present a method to automatically evaluate the suitability of gradients for 3D boundary identification. The approach developed is applied for 3D reconstruction of mouse brain cells from confocal image stack
{"title":"3D Boundary Reconstruction of Mouse Brain Cells","authors":"Y. Guan, M. Opas, Y. T. Lee, Y. Cai","doi":"10.1109/ICARCV.2006.345482","DOIUrl":"https://doi.org/10.1109/ICARCV.2006.345482","url":null,"abstract":"This paper reports our 3D reconstruction work of mouse brain cells from a confocal image stack. Gradients at volumetric points are used for boundary surface extraction and structure visualization from 3D volumetric confocal microscopic images. We present a method to automatically evaluate the suitability of gradients for 3D boundary identification. The approach developed is applied for 3D reconstruction of mouse brain cells from confocal image stack","PeriodicalId":415827,"journal":{"name":"2006 9th International Conference on Control, Automation, Robotics and Vision","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132416904","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 : 2006-12-01DOI: 10.1109/ISIC.2007.4450902
M. Sasaki, K. Fujihara, H. Yamada, Y. Nam, S. Ito
The present paper describes a two-degree-of-freedom control of a self-sensing micro-actuator for a dual-stage hard disk drive using neural networks. The two-degree-of-freedom control system is comprised of a feedforward controller and a feedback controller. Two neural networks are developed for the two-degree-of-freedom control system, one for the inverse dynamic model for the feedforward controller and one for system identification for the generation of the desired self-sensing signal. The feedback controller can realize the identified self-sensing signal. The micro-actuator uses a PZT actuator pair, installed on the assembly of the suspension. The self-sensing micro-actuator can be used to form a combined actuation and sensing mechanism. Experimental results show that the neural network approach can be used effectively for the control and identification of the self-sensing micro-actuator system
{"title":"Two-Degree-of-Freedom Control of a Self-Sensing Micro-Actuator for HDD using Neural Networks","authors":"M. Sasaki, K. Fujihara, H. Yamada, Y. Nam, S. Ito","doi":"10.1109/ISIC.2007.4450902","DOIUrl":"https://doi.org/10.1109/ISIC.2007.4450902","url":null,"abstract":"The present paper describes a two-degree-of-freedom control of a self-sensing micro-actuator for a dual-stage hard disk drive using neural networks. The two-degree-of-freedom control system is comprised of a feedforward controller and a feedback controller. Two neural networks are developed for the two-degree-of-freedom control system, one for the inverse dynamic model for the feedforward controller and one for system identification for the generation of the desired self-sensing signal. The feedback controller can realize the identified self-sensing signal. The micro-actuator uses a PZT actuator pair, installed on the assembly of the suspension. The self-sensing micro-actuator can be used to form a combined actuation and sensing mechanism. Experimental results show that the neural network approach can be used effectively for the control and identification of the self-sensing micro-actuator system","PeriodicalId":415827,"journal":{"name":"2006 9th International Conference on Control, Automation, Robotics and Vision","volume":"114 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132209588","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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