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A robust doorplate recognition system

A robust doorplate recognition system

引用

international conference on control, automation, robotics and vision (ICARCV)

作者： Y. Hong J. Yi D. Zhao X. Li Laboratory of Complex Systems and Intelligence Science Institute of Automation Chinese Academy and Sciences Beijing China

In real applications, captured doorplate images often contain unexpected noise from irregular illumination conditions, various imaging angles, different imaging distances, etc. In this paper, a robust doorplate recognition system is presented. First, an efficient method based on Sobel operator, region splitting and merging is applied to extract doorplate. then, according to the doorplate shape and the character position in the doorplate, the character region is determined. If the candidate of some doorplate characters extracted from the character region cannot be determined at the segmentation step, a speculation based on known knowledge about geometrical relations between each doorplate character is executed. the threshold for character extraction from candidates is adjusted when the corresponding character is rejected after classification. the data set and the images in experiments all come from practical applications. Experimental results indicate that the proposed doorplate recognition system effectively improves the recognition result.

关键词： Character recognition Noise robustness Image segmentation Feature extraction Lighting Merging Data mining Laboratories Intelligent systems automation

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Position control of a 3 DOF compliant micro-motion stage

Position control of a 3 DOF compliant micro-motion stage

引用

international conference on control, automation, robotics and vision (ICARCV)

作者： Tien-Fu Lu D.C. Handley Yuen Kuan Yong School of Mechanical Engineering University of Adelaide Adelaide SA Australia School of Mechanical Engineering University of Adelaide Pennsylvania USA

this paper focuses on the open-loop and closed-loop position control of a three degree-of-freedom (DOF) compliant micro-motion stage with flexure hinges. this micro-motion stage has a parallel structure for better stiffness and accuracy than serial structures and is driven by three PZT stack actuators. It was discussed in the authors' previous paper that due to the limitation of current modeling methods for compliant mechanisms the derived kinematic model is not able to accurately describe the behavior of the investigated micro-motion stage. therefore, an experimentally determined constant Jacobian matrix is used to relate the extensions of PZTs and the end-effector movement for position control. With the use of the experimentally determined Jacobian in open-loop control, the micro-motion stage is proved able to achieve good positioning accuracy. Nevertheless, the positioning accuracy is significantly improved by incorporating end-effector closed-loop control.

关键词： Position control Jacobian matrices Fasteners Kinematics Open loop systems Mechanical engineering Couplings Friction Piezoelectric actuators Biological cells

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A new kind of real-time control scheduling algorithm

A new kind of real-time control scheduling algorithm

引用

international conference on control, automation, robotics and vision (ICARCV)

作者： Jian Song Dong-Zhi He Wei Li College of Network Education Lanzhou University of Technology Lanzhou China The Key Laboratory of Complex Systems and Intelligence Science Institute of Automation Chinese Academy and Sciences Beijing China

ISBN: (纸本)0780386531

Many application specific operating systems based on system on chip are composed of lots of tasks that can generate multi-tasking using preemptive scheduling. Preemptive multi-tasking incurs high preemption switching overheads, and these costs may jeopardize the system schedulability. In this paper, a novel scheduling, named dynamic preemption threshold, is proposed. the scheduling can reduce preemption costs by thread assignment and changing task dynamic preemption threshold at runtime. Because dynamic preemption threshold is based on dynamic algorithm, it can achieve higher processor utilization with relative low costs in context switching and memory requirement. the scheduling perfectly integrates preemption threshold scheduling into EDF algorithm, and accomplishes to transform static model to dynamic algorithm seamlessly.

关键词： Scheduling algorithm Processor scheduling Dynamic scheduling Object oriented modeling Random access memory Costs Runtime Read-write memory Heuristic algorithms Real time systems

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Teleoperation over an IP network: from control to architectural considerations

Teleoperation over an IP network: from control to architectu...

引用

international conference on control, automation, robotics and vision (ICARCV)

作者： D. Andreu P. Fraisse J.A. Segovia De Los Rios L.I.R.M.M Montpellier France Technological Institute of Toluca Mexicali Mexico

For the teleoperation of a robot over an IP network, we must deal with the variable network delays as well as with events that can occur during the teleoperation. In this paper both control and architectural aspects are exposed. We first present a stable remote position/force control scheme for manipulator robot, based on a delay regulator and Smith's predictor principle. Some experiments show the improvement obtained by this method. However to face very important network delay variations and possible connection rupture, we designed a supervised delay regulator based architecture. this architecture, embedded on a mobile robot, is presented and results of experiments are also given and explained. All these experiments, performed on long distance (Mexico-France: /spl sim/8000 km), show the improvement obtained on both themes, that conjointly enhances and secures the teleoperation through the Internet.

关键词： IP networks Delay Robots control systems Master-slave Computer architecture Transmitters Force control Regulators Internet

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control of an underwater reconfigurable robot: spatial maneuver with planar eel-like configuration

Control of an underwater reconfigurable robot: spatial maneu...

引用

international conference on control, automation, robotics and vision (ICARCV)

作者： T. Ge H.T. Tian L. Lian School of Naval Architecture and Ocean Engineering Shanghai Jiaotong University Shanghai China

USS is a novel underwater self-reconfigurable robot, which consists of modules of the same type. By the modules' connecting and disconnecting, USS can change its configuration in real-time. A feature of USS is that it can execute underwater spatial maneuver with only the planar eel-like configuration, which is due to the module's capability of buoyancy regulation and one degree metamorphosing. this article focuses on control of the type of maneuver. We built the nonlinear 6-DOF dynamics model firstly, and then perturb it around the nominal state of straight forward motion with constant speed, which gives two uncoupled linear models for the horizontal maneuver and the perpendicular motion. the perpendicular controller is designed based on the robust control technique of mix sensitivity, while the horizontal controller is designed based on Masashi Saito's method, in which maneuver is achieved by serpentine gait, and the speed and heading are stabilized by feeding back the metamorphosing frequency and the average joint angles respectively. the control strategy is then verified by digital simulation, which shows that the expected maneuver is achieved well by the suggested method.

关键词： Robots Connectors Joining processes Regulators Orbital robotics Oceans Robust control Frequency Digital simulation Underwater structures

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OPC DX and industrial Ethernet glues fieldbus together

OPC DX and industrial Ethernet glues fieldbus together

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international conference on control, automation, robotics and vision (ICARCV)

作者： Xiaohong Hao Shunhong Hou School of Electrical and Information Engineering Lanzhou University of Technology Lanzhou China College of Electrical and Information Engineering USA

ISBN: (纸本)0780386531

With our hope of having one world standard for fieldbus being dashed to the ground, new technology of OPC data exchange (DX) and industrial Ethernet emerge, as the times require. the advantages of Ethernet, such as great bandwidth, resourceful hardware and software, potential of durative development and especially based on open IEEE Std 802.3, are porting the traditional fieldbus architectures to industrial Ethernet. Finding industrial Ethernet's proper place among the fieldbus and its limitation using Ethernet to the manufactory floor is analyzed in detail. OPC DX, defining a set of interfaces that can be used to remotely configure and manage the connections maintained by each OPC DX server, provides application interoperability between disparate fieldbuses. By analyzing an application example in process control using both industrial Ethernet and OPC DX in detail, this paper presents that OPC DX and industrial Ethernet would complement each other rather than replace, and they would exit in parallel for a long time. With the development of OPC DX and industrial Ethernet, they must bring an end to the dispute among fieldbus.

关键词： Ethernet networks Field buses Hardware Communication system control Automatic control Industrial control automation Computer industry Process control Electrical equipment industry

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the measurement of viscosity in rubber mixing process based on fuzzy modeling

The measurement of viscosity in rubber mixing process based ...

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international conference on control, automation, robotics and vision (ICARCV)

作者： Shaosheng Fan Yaonan Wang College of Electrical and Information Engineering Changsha University of Science and Technology Changsha China College of Electrical and Information Engineering Hunan University Changsha China

ISBN: (纸本)0780386531

Viscosity is one of the key quantities in rubber mixing process, online measurement of viscosity is very difficult to achieve. To cope with this problem, a soft sensing approach based on fuzzy modeling is proposed. During fuzzy modeling, T-S fuzzy model is employed to approximate the non-linearity of rubber mixing process, an improved Gustafon-Kessel fuzzy clustering algorithm based on similarity assessing is proposed to determine the optimum number of clusters. All these techniques make the fuzzy model simple and accurate. Based on it, test on BB370 internal mixer is carried out. the results show the proposed approach provides more accurate viscosity prediction than mathematical modeling approach. Compared with laboratory measurement, the error is small and acceptable. It improves production efficiency greatly and lays down the foundation for optimal control of viscosity.

关键词： Viscosity Rubber Fuzzy systems Laboratories Power system modeling Fuzzy control Clustering algorithms Testing Mathematical model Optimal control

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Global stability with time delay in optimization flow control

Global stability with time delay in optimization flow contro...

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international conference on control, automation, robotics and vision (ICARCV)

作者： Bo Yang X.P. Guan C.N. Long G. Feng C.L. Chen Institute of Electrical Engineering Yanshan University슠 Qinhuangdao China Yanshan University Qinhuangdao Hebei CN Department of Manufacturing Engineering and Engineering Management City University of Hong Kong Hong Kong China

In this paper we consider a dual-gradient optimization flow control scheme. In an earlier work it was shown that such algorithms converge in a delay free case. We present the sufficient condition under which the stability can be global focusing on the scenario of a single flow and bottleneck link with delay. We first show that this synchronous algorithm is convergent in general network topology without delay. then we provide a result that even with delays, the queue length increasing at the router is bounded. the upper bound grows with increase in the number of flows as well as the maximum source sending rate and the maximum round trip delay. the upper bound decreases as the link departing rate and stepsize increase.

关键词： Delay effects Network topology Sufficient conditions Upper bound Fluid flow control Asymptotic stability Pulp manufacturing Research and development management IP networks Protocols

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Optimal filtering for discrete time-varying systems with multiple time-delay measurements

Optimal filtering for discrete time-varying systems with mul...

引用

2004 8th international conference on control, automation, robotics and vision (ICARCV), Volume 3

作者： Xiao Lua Huanshui Zhang Wei Wang Shenzhen Graduate Sch. Harbin Inst. of Technol. Shenzhen China Shenzhen Graduate School of Harbin Institute of Technology HIT Campus Shenzhen University Town Xili Shenzhen P. R. China Research Center of Information and Control Dalian University of Technology Dalian P. R. China

ISBN: (纸本)0780386531

this paper aims to give the efficient approach to the discrete-time systems with instantaneous and multiple time-delays measurements. Without resorting to the traditional augmentation and standard Kalman filtering formulation, a new approach termed as reorganized innovation analysis is developed in the paper. the improved performance is clearly demonstrated through analytical results and simulation experiments with multiple time-delayed measurements. More importantly, the approach presented in the paper forms the basis of solving the more complicated problems such as H/sub /spl infin// fixed-lag smoothing, multiple-step ahead prediction and H/sub /spl infin// control with control input multiple delays.

关键词： time-varying systems delays discrete time systems filtering theory optimal control optimal filtering discrete time-varying systems multiple time-delay measurements reorganized innovation analysis

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Bench-scale building controlled by a miniature AMD system for education in control engineering

Bench-scale building controlled by a miniature AMD system fo...

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international conference on control, automation, robotics and vision (ICARCV)

作者： Chunwei Zhang Jinping Ou School of Civil Engineering Harbin Institute of Technology Harbin China

ISBN: (纸本)0780386531

this paper presents one education system for control engineering, which consists of a two-floor building structural model with a moving controllable cart device lying on the top floor, namely a miniature AMD control system. the structure is controlled by the AMD, when it vibrates subjected to external disturbance. Both the calculation model and physical implementation are given according to observer based full-state feedback control design specifications, which includes designing and tuning of a proportional-velocity (PV) position controller, mathematically modeling the system's state-space representation through Lagrange's method, designing and tuning of a full-order state-observer based on the structural acceleration feedback, at last designing a real-time mode-switching experiment using a predefined logic sequence to alternate between a mode of repeatable structural excitation and an active mass damping control mode to depress the structure's vibration to show the effectiveness of using AMD control system in suppressing structural vibration. the results show the procedures using AMD device system in control engineering education.

关键词： control systems control engineering education Systems engineering education control engineering Weight control Proportional control Buildings control system synthesis Mathematical model State feedback

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