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Arrival Time Field Based Path Planning Algorithm for Mobile robot 3

Arrival Time Field Based Path Planning Algorithm for Mobile ...

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3rd international conference on Information technology, Computer, and Electrical Engineering (ICITACEE)

作者： Majid, Imaduddin A. Cahyadi, Adha Imam Ardiyanto, Igi Saifussalam, Muhammad Sony China Research Lab Beijing

ISBN: (纸本)9781509008902

Worldwide, the use of mobile robot has been growing rapidly. In aerospace, for instance, mobile robot have become ubiquitous in both military and civilian applications. Today, for example, unmanned air vehicles must execute military reconnaissance and strike operations, border patrol missions, forest fire detection, police surveillance, and recovery operations. In this research, an arrival time field based path planning algorithm is addressed. We used arrival time field to generate bias which gives larger weights for shorter and safer paths toward a goal. The path will be extracted by backtracking the nodes that reach the goal, and the motion from the very first node will be sent to the robot controller.

关键词： Arrival Time Field Fast Marching Method Velocity Function Path Planning Mobile robot

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Multi-class SVM Based Real-Time Recognition of Sit-to-Stand and Stand-to-Sit Transitions for a Bionic Knee Exoskeleton in Transparent Mode 10th

Multi-class SVM Based Real-Time Recognition of Sit-to-Stand ...

引用

10th international conference on Intelligent robotics and applications (ICIRA

作者： Liu, Xiuhua Zhou, Zhihao Mai, Jingeng Wang, Qining Peking Univ Coll Engn Robot Res Grp Beijing 100871 Peoples R China Peking Univ Beijing Innovat Ctr Engn Sci & Adv Technol BIC ES Beijing 100871 Peoples R China

ISBN: (纸本)9783319652894;9783319652887

Real-time locomotion intent recognition is a challenge in lower-limb exoskeletons. In this paper, we present a multi-sensor based locomotion intent prediction system for sit-to-stand and stand-to-sit transition recognition the subject wears a knee exoskeleton in transparent mode. The desired reference torque for movement control is obtained from a direct torque control loop. The feedback torque is estimated by an inner current control loop. Five able-bodied subjects were recruited in experiments. The classifier is based on multi-class Support Vector Machine. Four kinds of modes and four kinds of transitions are tested in this study. Recognition accuracy during steady periods is 99.68% +/- 0.07% for five able-bodied subjects. And during transition periods, all the transitions are correctly detected and no missed detections was observed for all the trials of the five subjects. Preliminary experimental results show that the proposed method is capable of performing real-time intent recognition and consequently reduces the interaction force between human body and the exoskeleton.

关键词： Locomotion intent prediction Multi-class SVM Gait transitions Knee exoskeleton

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Traffic Incident Severity Detection Model Based on Catastrophe Theory 2

Traffic Incident Severity Detection Model Based on Catastrop...

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2nd international conference on Information technology and Intelligent Transportation Systems (ITITS)

作者： Li, Hongwei Li, Sulan Zhu, Hongwei Zhao, Xing Zhang, Xiaoli Hohai Univ Coll Civil & Transportat Engn Nanjing Jiangsu Peoples R China Wuhan Univ Technol Sch Transportat Wuhan Hubei Peoples R China Wuhan Transportat Sci Res Inst Wuhan Hubei Peoples R China Coll Civil & Transportat Engn Xikang Rd 1 Nanjing 210098 Jiangsu Peoples R China

ISBN: (纸本)9781614997856;9781614997849

An expressway traffic incident severity detection model is established in this paper, which can effectively detect the traffic incidents and their severity. By analyzing the relationship between the severity of freeway traffic incidents and the number of lanes, flow, speed and duration of traffic events in the event lane, the following conclusions are drawn:(1)The traffic flow of traffic incident lane and non-traffic incident lane has multi-mode, sudden jump and other abrupt theoretical features When a traffic incident occurs;(2) The severity of traffic accidents controls the degree of sudden and sudden jump of traffic incident lane and non traffic incident lane. Based on catastrophe theory, this paper proposes a discriminant model of traffic accident severity based on traffic flow velocity and flow rate as independent variables. The measured data of expressway traffic events verifies the effectiveness of the proposed model.

关键词： expressway catastrophe theory traffic incident severity

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One-class collective anomaly detection based on LSTM-RNNs 3rd

One-class collective anomaly detection based on LSTM-RNNs

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3rd international conference on Future Data and Security Engineering, FDSE 2016 and the 10th international conference on Advanced Computing and applications, ACOMP 2016

作者： Nguyen Thi, Nga Cao, Van Loi Le-Khac, Nhien-An Institute of Electronic Institute of Military Science and Technology Hanoi Viet Nam University College Dublin Dublin Ireland

ISBN: (纸本)9783662562659

Intrusion detection for computer network systems has been becoming one of the most critical tasks for network administrators today. It has an important role for organizations, governments and our society due to the valuable resources hosted on computer networks. Traditional misuse detection strategies are unable to detect new and unknown intrusion types. In contrast, anomaly detection in network security aims to distinguish between illegal or malicious events and normal behavior of network systems. Anomaly detection can be considered as a classification problem where it builds models of normal network behavior, of which it uses to detect new patterns that significantly deviate from the model. Most of the current approaches on anomaly detection is based on the learning of normal behavior and anomalous actions. They do not include memory that is they do not take into account previous events classify new ones. In this paper, we propose a one-class collective anomaly detection model based on neural network learning. Normally a Long Short-Term Memory Recurrent Neural Network (LSTM RNN) is trained only on normal data, and it is capable of predicting several time-steps ahead of an input. In our approach, a LSTM RNN is trained on normal time series data before performing a prediction for each time-step. Instead of considering each time-step separately, the observation of prediction errors from a certain number of time-steps is now proposed as a new idea for detecting collective anomalies. The prediction errors of a certain number of the latest time-steps above a threshold will indicate a collective anomaly. The model is evaluated on a time series version of the KDD 1999 dataset. The experiments demonstrate that the proposed model is capable to detect collective anomaly efficiently. © Springer-Verlag GmbH Germany 2017.

关键词： Long short-term memory

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SemanticFusion: Dense 3D semantic mapping with convolutional neural networks

SemanticFusion: Dense 3D semantic mapping with convolutional...

引用

2017 IEEE international conference on robotics and Automation, ICRA 2017

作者： McCormac, John Handa, Ankur Davison, Andrew Leutenegger, Stefan Dyson Robotics Lab Imperial College London United Kingdom

ISBN: (纸本)9781509046331

Ever more robust, accurate and detailed mapping using visual sensing has proven to be an enabling factor for mobile robots across a wide variety of applications. For the next level of robot intelligence and intuitive user interaction, maps need to extend beyond geometry and appearance - they need to contain semantics. We address this challenge by combining Convolutional Neural Networks (CNNs) and a state-of-the-art dense Simultaneous Localization and Mapping (SLAM) system, ElasticFusion, which provides long-term dense correspondences between frames of indoor RGB-D video even during loopy scanning trajectories. These correspondences allow the CNN's semantic predictions from multiple view points to be probabilistically fused into a map. This not only produces a useful semantic 3D map, but we also show on the NYUv2 dataset that fusing multiple predictions leads to an improvement even in the 2D semantic labelling over baseline single frame predictions. We also show that for a smaller reconstruction dataset with larger variation in prediction viewpoint, the improvement over single frame segmentation increases. Our system is efficient enough to allow real-time interactive use at frame-rates of ≈25Hz. © 2017 IEEE.

关键词： Semantics

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HADAMArd Transform Sample Matrix Used in Compressed Sensing Super-Resolution Imaging 10th

HADAMARD Transform Sample Matrix Used in Compressed Sensing ...

引用

10th international conference on Intelligent robotics and applications (ICIRA

作者： Ye, Mei Ye, Hunian Yan, Guangwei Huazhong Univ Sci & Technol 1037 Luoyu Rd Wuhan Peoples R China

ISBN: (纸本)9783319652986;9783319652979

To realize super-resolution optical and terahertz imaging by the sub-wavelength hole arrays with extraordinary optical transmission (EOT) performance, the related sampling template structure is studied. In this paper, Hadamard matrix, cyclic S matrix and matrix chosen by random matrix selector are defined as a small probability matrix. The sub-wavelength coding imaging template based on the structure of this small probability matrix have extraordinary optical transmission (EOT) performance, which is the basis for achieving super-resolution imaging. It is showed that, in the case of array detector, high signal-to-noise ratio (SNR) improvement (exceeded 22) can be obtained only by sampling one frame using the imaging template designed by 3 order cyclic S matrix. For single detector, the SNR improvement using various order of cyclic S matrix designed imaging template is higher than N a quadratic root obtained by Hadamard matrix in classical Hadamard transform optical imaging method, and much higher than half a quadratic root of N by classical cyclic S matrix.

关键词： Compressed sensing Hadamard transform Imaging Sampling template

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2017 6th international conference on Computer applications in Electrical Engineering - Recent Advances, CERA 2017

2017 6th International Conference on Computer Applications i...

引用

6th international conference on Computer applications In Electrical Engineering - Recent Advances, CERA 2017

ISBN: (纸本)9781509048748

The proceedings contain 103 papers. The topics discussed include: ANN based SVPWM for three-phase improved power quality converter under disturbed ac mains;bridgeless ZETA PFC converter for low voltage high current LED driver;power quality improvement of grid interfaced solar PV using adaptive line enhancer based control scheme;a nonlinear fractional order PID controller applied to redundant robot manipulator;RLMMN adaptive filtering based control scheme for multi-objective GPV system;selective harmonic elimination in multilevel inverters using gravitational search algorithm;fixed frequency control of LCL-T resonant power converter with capacitive output filter;optimization method for power regulation in wind turbine coupled to doubly-fed induction generator;investigation of grid-structure interaction of wind turbine driven DFIG using fast and Simulink;voltage and frequency control of a hybrid wind-diesel system using svc and predictively controlled SMEs;detection of fault during power swing using superimposed negative sequence apparent power based scheme;secured zone 3 protection during load encroachment using synchrophasors;rough set based feature selection using swarm intelligence with distributed sampled initialisation;investigation of network reconfiguration on the reliability and performance of distribution systems using CRO;probabilistic estimation of capacity value of photovoltaic system;and on feasibility of biomass power plant with agricultural waste processing.

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New Adaptive Resource Allocation Scheme in LTE-Advanced 16th

引用

16th international conference on Intelligent Systems Design and applications (ISDA)

作者： Khdhir, Radhia Mnif, Kais Belghith, Aymen Kamoun, Lotfi Univ Sfax LETI Lab ENIS Sfax Tunisia Univ Sfax ENETCOM Sfax Tunisia Univ Sfax Rd Aeroport Km 0-5 Sfax 3029 Tunisia

ISBN: (纸本)9783319534800;9783319534794

To cope with the increasing demand of multimedia applications, Long Term Evolution Advanced (LTE-A) networks were introduced. Indeed, this promising technology supports a high transmission rate, a wide range of voice (VoIP) as well as video services and data. Moreover, LTE-A guarantees lower latency and higher spectral efficiency compared with Long Term Evolution (LTE). However, it is necessary to efficiently benefit from scarce network resources in order to achieve high performance. Therefore, we propose, in this paper, a new scheduling algorithm for LTE-A uplink systems entitled Adaptive Resource Allocation Process (ARAP) that supports uplink multiuser transmissions. The main contribution of this work is to allocate the Physical Resources Blocks (PRBs) to Real Time (RT) and non-Real Time (NRT) users using various criteria. Our proposed algorithm aims to at providing a fair distribution of PRBs, maximizing the system throughput and reducing queuing delay of the RT packets. Simulation and analysis showed that ARAP has a significant positive impact on delay and throughput performance.

关键词： QoS Scheduling LTE-A ARAP Throughput

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Digital Symbolization of Responsibility Matrix and the applications

Digital Symbolization of Responsibility Matrix and the Appli...

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2017 3rd international conference on Humanity and Social Science（ICHSS 2017)

作者： Zhi-liang FANG Xian-ying WANG Institute of Responsibility Dynamics Jiangxi College of Application Science and Technology School of Materials Science and Technology University of Shanghai for Science and Technologies

The application of mathematical symbols and formulas in a certain discipline of the society always promote its development, which facilitate the mutual progress of the human beings. The common symbols used throughout the world include mathematical languages, musical symbols, English words etc. Actually, there exists another common conception in the society: responsibility which can have symbol language and logic expressions. Based on this, we carried out research and reached following conclusions: 1. The letter R(responsibility) plus eigenvalues of(-1,0, n,+1) was used to represent the high and low order(R(L,H)) of responsibility, and the basic units and total formula of responsibility were obtained. 2. The essential law behind the responsibility phenomena can be expressed using logic formulas.3. This set of responsibility symbol languages can be used in education, computer, artificial intelligence, robot etc.

关键词： Responsibility matrix Responsibility subject Responsibility object

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A Novel Low Velocity robotic Penetrator Based on Ampere Force 10th

A Novel Low Velocity Robotic Penetrator Based on Ampere Forc...

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10th international conference on Intelligent robotics and applications (ICIRA

作者： Feng, Jingkai Liu, Jinguo Zhang, Feiyu Chinese Acad Sci Shenyang Inst Automat State Key Lab Robot Shenyang 110016 Peoples R China Univ Chinese Acad Sci Beijing 100049 Peoples R China

ISBN: (纸本)9783319652986;9783319652979

The subsurface access technology is of great significance to study evolution of stars and probe landing, and the low velocity robotic penetrator (LVRP) is a commonly used detection technique. In this study, a novel LVRP based on ampere force (AFRP) is proposed, which uses the ampere force of the coils located in high intensity magnetic field as the driving force. The AFRP is composed of stator and mover. In the working state, the mover is subjected to a linear reciprocating motion, colliding with the stator, and displacement occurs. Firstly, parametric modeling of AFRP is carried out and the internal magnetic field distribution is analyzed. The results show that the magnetic induction between the two poles can be increased by the relative mounting of the permanent magnets, and the magnetic induction is affected by the gap and the diameter of the permanent magnets. Then, ISIGHT (R) software is used for integrated optimization, whose purpose is to optimize the design variables and make the output force of each unit reaches the maximum when the casing size of the AFRP is certain. Furthermore, to achieve the optimization design goal that the overall output force is maximum. According to the optimization results, the prototype was developed. The experimental results show that the AFRP operating frequency can be controlled in the range of 1 similar to 10 Hz, the average displacement of each motion cycle is 2 mm. The proposed AFRP can output a larger driving force by changing the current and the number of units. In addition, the AFRP can be used as a novel actuator for robots.

关键词： Low velocity robotic penetrator Subsurface access technologies Electromagnetic actuator Ampere force

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