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A Mealy machine based modeling approach for semantic programming language

A Mealy machine based modeling approach for semantic program...

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international asia conference on informatics in control, automation and robotics, CAR

作者： Luokai Hu Shi Ying Kai Zhao State Key Laboratory of Software Engineering Wuhan University of China Wuhan China School of Computer Hubei University of Education Wuhan China School of Information and Technology Xinjiang University Wuhan China

ISBN: (纸本)9781424451920

Semantic Programming language is an essential study aspect of semantic software engineering. Semantic programming language is not only need for syntax modeling and analysis of classical programming language, but also the semantic modeling and analysis. This paper firstly introduces the semantic Web services based semantic programming language (SPL) and then proposes a modeling approach of this language based on the semantic Mealy machine (named Mealy4S machine). A case study of online forex system is given to elaborate the modeling approach. Mealy4S machine could be suitable for the modeling of semantic programming language. This approach may also provide a basic support for the verification of semantic program in the future.

关键词： Computer languages Radiofrequency identification Protocols Authentication Communication system security Information security Databases RFID tags robotics and automation Privacy

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Linkage under-actuated humanoid robotic hand with control of grasping force

Linkage under-actuated humanoid robotic hand with control of...

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international asia conference on informatics in control, automation and robotics, CAR

作者： Wenzeng Zhang Deyang Zhao Qiang Chen Dong Du Department of Mechanical Engineering Ministry of Education Key Laboratory for Advanced Materials Processing Technology Beijing China

ISBN: (纸本)9781424451920

The single-motor multiple DOFs under-actuated finger is the focus of robot research. The grasping force of traditional under-actuated hands based on linkages is hard to control. The traditional hands also have many differences from human hands in appearance. Aiming to solve these problems, this paper has presented a novel under-actuated hand based on linkages, which also comprises of slider mechanisms and springs. Its finger has a changeable force output controlled by a motor with humanoid appearance. It also can adapt to the shape of objects. This article analyzed the force properties of the finger. According to this, a 2-DOF finger and a 3-DOF finger were designed. Finally, they are included in the hand named TH-3L, which comprises of five fingers and six motors with 15 DOFs.

关键词： Force control Couplings Humanoid robots Robot control Grasping Fingers Springs robotics and automation Grippers Educational robots

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Hierarchical adaptive backstepping sliding mode control for underactuated space robot

Hierarchical adaptive backstepping sliding mode control for ...

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international asia conference on informatics in control, automation and robotics, CAR

作者： Zhixiang Tian Hongtao Wu Chun Feng College of Mechanical and Electrical Engineering NUAA Nanjing China

In this paper, the position control problem of the underactuated space robot with the effect of unknown external disturbance is addressed, and a new sliding mode control scheme is proposed. The underactuated system was divided into active subsystem and passive subsystem, and the Lyapunov functions and adaptive laws were designed for both subsystems by the adaptive backstepping algorithm which backstepping to the entire subsystem until the control law was finished. Combining with the subsystems' sliding planes a global sliding plane was constructed, then using the Lyapunov function and the exponential approach law with saturation function the control law for the entire system was derived. The control system is designed and simulated by proposed algorithm for two degrees of freedom underactuated space robot, and the simulation results have shown that the proposed algorithm not only can effectively and quickly implement the position control of the active and passive joints, but also can reduce the chattering caused by characteristic of the sliding mode control, and has robustness to the disturbance.

关键词： Programmable control Adaptive control Backstepping Sliding mode control Orbital robotics Position control Lyapunov method Algorithm design and analysis control systems control system synthesis

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Research on the taxi traffic accident and violation identification model

Research on the taxi traffic accident and violation identifi...

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international asia conference on informatics in control, automation and robotics, CAR

作者： Zheng-ke Zhang Transportation Bureau of Jingyuan City Jingyuan China

The taxi accident reasons were analysed deeply and the special taxi supervising system for preventing taxi break traffic regulations and reducing taxi traffic accident were established. After analysing the deeply level reasons that taxi traffic accident occurred from driver and passenger psychological, vehicle performance, service facility, operation condition and mechanism, quantity control and management system, etc., the paper put forward that the traffic supervising system must be effective and the identification must be accurate. it is the effective measure of prevention taxi traffic accident to eliminate taxi driver lucky psychology. According to the effective supervising of taxi, a kind of accurate violation identification mathematics model is designed. By using twice detection algorithm, the identification can be accurate and the taxi effective supervising can realize. The violation identification model and detection algorithm can effective supervise taxies, and the lucky psychology of taxi driver can be eliminated, and the taxi traffic accident rate can be decreased.

关键词： Road accidents Detection algorithms Vehicle driving Traffic control Vehicles Psychology robotics and automation Cities and towns Change detection algorithms Lighting

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Research on seismic data cooperative processing and interpretation system model case of gas hydrate seismic data

Research on seismic data cooperative processing and interpre...

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international asia conference on informatics in control, automation and robotics, CAR

作者： Ming-guang Diao Tao Xue Wen-yong Pan School of Software China University of Geosciences Beijing China

Through analyzing the needs of seismic data processing and interpretation, a system model is designed. Using the technology of cooperative work allows the field data acquisition to possess the functions of remote real-time guidance by experts and remote real-time processing of the data. The model overcomes the influences and barriers existing in the areas of technology, information and human resources sharing in the condition of cross-boundary and breaks the limits of time and space. This model also possesses the functions of mutual communication and data sharing between the geologists and geophysicists. According to this model, we formulate the cooperative control strategy, implement the software of seismic data processing and interpretation based on CSCW aiming at gas hydrate and build the platform of experts' communication and data sharing. The software module overcomes that interval velocity could not correspond with the real stratum, and meets the needs of gas hydrate seismic data processing and interpretation.

关键词： Data processing Geology Databases robotics and automation Collaborative work Data acquisition Space technology Communication system control Interpolation Stacking

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Energy consumption optimize based on ant colony algorithm for wireless sensor networks

Energy consumption optimize based on ant colony algorithm fo...

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international asia conference on informatics in control, automation and robotics, CAR

作者： Lianyu Wang Qinglin Sun Hongwen Ma Department of Equipment Support Academy of Military Transportation PLA Tianjin China Department of automation Nankai University Tianjin China

ISBN: (纸本)9781424451920;9781424451937

Limited energy is one of the most special characteristics of WSN, how to use the limited resources available at each sensor node more efficiently is very important. Several researches were done before, aiming to cut down the WSNs' whole energy consumption, but their simulation results showed that the main node nearest to the sink node always have much higher energy consumption than that of any other nodes, this node will die very quickly, and the whole network will crash because of this node. In this paper, we proposed a new routing mechanism based on ant colony algorithm to average the energy consumption of main nodes. For the new routing mechanism, we considered the whole network's energy cost and the single node's energy cost concurrently and tried to look for the best trade between them. As well, we made cooperation between our new routing mechanism and the directed diffusion (DD) routing. Simulation results show that our new routing mechanism can effectively average the main nodes' energy cost and prolong the whole network's lifetime.

关键词： Energy consumption Ant colony optimization Wireless sensor networks Routing robotics and automation Costs Feedback asia informatics Automatic control

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The stylized properties of artificial stock market comparison with Chinese empirical data

The stylized properties of artificial stock market compariso...

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international asia conference on informatics in control, automation and robotics, CAR

作者： Chao Lu Zhifeng Zhang School of Finance Renmin University of China Beijing China Department of Physics Zhengzhou University of Light Industry Zhengzhou China

ISBN: (纸本)9781424451920;9781424451937

In the decade,the use of agent-based simulations of market has been acceptance by more and more social scientists. This paper presents the construction of the artificial stock market that the artificial intelligent algorithms take on the role of trades. They make predictions about the future, and buy and sell stock as indicated by their expectations of future risk and return. Prices are set endogenously to clear the market. Time series from this market are analyzed from the standpoint of well-known empirical features in Chinese stock market. The artificial stock market is able to replicate several of these phenomenon, including volatility clustering, the excess kurtosis of the distribution of return, especially fractal structure. From this point, the artificial stock market can not only generate stock price trends and properties rather similar to the real stock market, but also show the fractal structure in deep consistency with the real stock market. So, research on the artificial stock market can reveal evolution rule of real stock market, operate mechanism, policy influence and better investment strategy.

关键词： Stock markets Economic forecasting Fractals robotics and automation Physics Investments Bonding Iron asia informatics

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Mobile robot simultaneous localization and mapping in unstructured environments

Mobile robot simultaneous localization and mapping in unstru...

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international asia conference on informatics in control, automation and robotics, CAR

作者： Tingting Wan Chongwei Zhang Wei Bao Mulan Wang School of Electric Engineering and Automation Hefei University of Technology Hefei China Jiangsu Province College Key Laboratory of Advanced Numerical Control Technology Nanjing Institute of Technology Nanjing China

This paper describes a method of mobile robot simultaneous localization and mapping (SLAM) based on laser range finder in unstructured environments. Considering drawbacks of the traditional iterative closest point (ICP) algorithm, matching laser range scans gets into local extrema when severe occlusions occur, the iterative dual closest point based on clustering (IDCP BoC) algorithm is proposed. Scan data are filtered and divided into clusters firstly, and then a procedure of reducing of data is conducted. The closest point (CP) rule is modified and dual closest point (DCP) rule is advanced when choosing the closest points. The reduced data is used for iterative computation before the error of two consecutive iterations' residual errors less than a preset threshold to speed up the algorithm, after that the data which is not reduced is used to guarantee the accuracy. Experimental results show that the method improves the accuracy of localization and mapping.

关键词： Mobile robots Simultaneous localization and mapping Iterative algorithms Clustering algorithms Robot kinematics Iterative closest point algorithm robotics and automation Paper technology Iterative methods Orbital robotics

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Optimal selection of fractal features for man-made object detection from infrared images

Optimal selection of fractal features for man-made object de...

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international asia conference on informatics in control, automation and robotics, CAR

作者： Jun Liu Hong Wei School of Automation Hangzhou Dianzi University Hangzhou China School of Systems Engineering University of Reading Reading UK

ISBN: (纸本)9781424451920;9781424451937

In this paper, a review of man-made object detection algorithms is presented based on various fractal features which are derived from the blanket covering method. These fractal features include fractal dimension (D), fractal model fitting error (FE), D-dimension area (K), multi-scale fractal feature related with D (MFFD), and multi-scale fractal feature related with K (MFFK). To choose the optimal fractal feature for man-made object detection from infrared images, a performance evaluation method for these algorithms is proposed in criterion of overlapped regions between ground truth and segmented image. The analysis and comparison of these algorithms are performed in terms of detection accuracy and computation cost. The results have revealed that different fractal features have different capability in discriminating between natural and man-made objects, and MFFK has the highest detection accuracy among all evaluated fractal features.

关键词： Fractals Object detection Infrared imaging Infrared detectors robotics and automation Iron Computer vision Computational efficiency Signal to noise ratio Equations

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Route optimum mechanisms for local communication on PMIPv6

Route optimum mechanisms for local communication on PMIPv6

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international asia conference on informatics in control, automation and robotics, CAR

作者： Lingjiao Wang Hua Guo Bin Duan Chuan Liu Coll. of Inf. Eng. Xiangtan Univ. Xiangtan China Dept. of Sceience & Res. CNGC Jiang Nan Machinery (Group) CO.Ltd. Xiangtan China

Route optimization technique helps to optimize the media path and to lessen the propagation delay time between two communicating nodes. For PMIPv6 technology, this route optimization technique is applicable to the scenarios, i.e., a separate MAG scenario and a sharing MAG scenario whose two communication terminals register different LMAs respectively. In this paper, two route optimum mechanisms for local communication on PMIPv6 is presented for forwarding data packets rapidly. For the separate MAG scenario, a bidirectional tunnel is set up between two peer MAGs. A MAG address discovery mechanism is presented because its address is a prerequisite of route optimum in the scenario. An internal binding mechanism is proposed for the route optimum on the sharing MAG scenario. The set up and maintenance of localized routing optimum, which allows forwarding of data packets between mobile nodes and correspondent nodes directly without involvement of the LMA in forwarding, can makes no difference for data packet forward, decrease packet loss, increase throughput or diminish transport delay.

关键词： Routing Peer to peer computing Mobile radio mobility management Protocols robotics and automation Next generation networking asia informatics Automatic control Robot control

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