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9th IFAC Symposium on Robot control, SYROCO 2009

作者： Shim, Eun Sub Hwang, Wonsang Anjum, Muhammad Latif Kim, Hyun Seok Park, Kwang Suk Kim, Kwangsoo Dan Cho, Dong-Il School of Electrical Engineering and Computer Science Seoul National University San 56-1 Shinlim-dong Kwanak-ku Seoul151-742 Korea Republic of Department of Biomedical Engineering College of Medicine Seoul National University 28 Yongon-Dong Chongno-Ku Seoul110-799 Korea Republic of Department of Control and Instrumentation Engineering Hanbat National University 16-1 Dukmyung-dong Yuseong-gu Deajeon305-719 Korea Republic of

ISBN: (纸本)9781617825583

This paper addresses a stable vision system for indoor moving robot using encoder information. The proposed system uses encoder signals to calculate robot motion and rotates the camera in order to fix the target on the image frame during locomotion. Since the calculation of rotating angle of the camera is based on the integration of encoder data over time, this leads to the unbounded accumulation of error. To prevent the error accumulation, vision sensor signals are used periodically to compensate for the errors. The resulting standard deviations of the rotated camera angle error were 0.94°, 0.32° and 1.55° for rotation, translation and rotation-translation combined motion while the robot heading angles have standard deviations of 23.27°, 16.56° and 48.53°, respectively. However, the system shows performance degradation in slippery ground conditions. In our experiments the errors have trends to increase with the decrease of friction coefficient between the ground and the robot wheels. Future work should overcome this problem using additional sensors such as inertial measurement units (IMUs) that are able to detect the correct robot motion even in the case of slip disturbance.

关键词： Errors

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Requirements for Wildland firefighting ground robots

Requirements for Wildland firefighting ground robots

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AUVSI Unmanned Systems North America Conference 2009

作者： Murphy, Robin R. Brown, Rachel Grant, Reginald Arnett, Clint T. Computer Science and Engineering Texas A and M 3112 TAMU College Station TX 77843-3112 United States Lockheed Martin Missiles and Fire Control P. O. Box 65003 M/S WT-75 Dallas TX 75265 United States Future Intelligent Vehicles Lockheed Martin Missiles and Fire Control P. O. Box 65003 M/S SP-19 Dallas TX 75265 United States Texas Engineering Extension Service Urban Search and Rescue Division 301 Tarrow College Station TX 77840 United States

ISBN: (纸本)9781615675807

This paper describes the wild land firefighting domain in terms of its implications for Squad Mission Support System (SMSS) types of mobile ground robots. The descriptive analysis is based on a focus group hosted by the Texas engineering Extension Service with eight subject matter experts and nine technologists. Wildland fire fighting is characterized by the large area affected and the longer duration of the response, on the order of weeks or months. The focus group identified six potential functions of a ground robot: 1)transport supplies, hoses, trunk lines, and people, 2) reconnoiter the fire direction, speed, and other attributes, 3) direct fire suppression, 4) identify hot spots under canopies using thermal imaging, 5) investigate areas for fire hazards from dead trees and level burnt remnants, and 6) serve as a movable weather station determining wind speed and direction, relative humidity, fuel moisture and fuel temperature. The desired functions, when combined with the general organizational, economic, and manpower constraints, in turn lead to anticipated requirements for seven capabilities. These are mobility, navigation, sensing, communications, dexterity, reusability, and transportability. The description of the needed functionality and capabilities is expected to be of use to hardware and software developers.

关键词： Reusability

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Development of Web‐Based Menu Planning Support System and its Solution Using Genetic Algorithm

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AIP Conference Proceedings 2009年第1期1174卷 56-68页

作者： Tomoko Kashima Shimpei Matsumoto Hiroaki Ishii aGraduate School of Information Science and Technology Osaka University 1‐5 Yamadaoka Suita Osaka 565‐0871 Japan bDepartment of Computer and Control Engineering Oita National College of Technology 1666 Oaza‐Maki Oita 870‐0152 Japan

Recently lifestyle‐related diseases have become an object of public concern, while at the same time people are being more health conscious. As an essential factor for causing the lifestyle‐related diseases, we assume that the knowledge circulation on dietary habits is still insufficient. This paper focuses on everyday meals close to our life and proposes a well‐balanced menu planning system as a preventive measure of lifestyle‐related diseases. The system is developed by using a Web‐based frontend and it provides multi‐user services and menu information sharing capabilities like social networking services (SNS). The system is implemented on a Web server running Apache (HTTP server software), MySQL (database management system), and PHP (scripting language for dynamic Web pages). For the menu planning, a genetic algorithm is applied by understanding this problem as multidimensional 0–1 integer programming.

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OWA fuzzy linking histogram approach for image retrieval

OWA fuzzy linking histogram approach for image retrieval

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International Conference on Computational Cybernetics (ICCC)

作者： Maryam Tayefeh Mahmoudi Maedeh Beheshti Caro Lucas Fattaneh Taghiyareh Knowledge Engineering & Intelligent Systems Group Iran Telecom Research Center Tehran Iran School of Electrical and Computer Engineering University of Tehran Tehran Iran School of computer engineering Iran University of Science and Technology Tehran Iran Control and Intelligent Processing Laboratory University of Tehran Tehran Iran School of Electrical and Computer Engineering College of Engineering University of Tehran Tehran Iran

Color image histograms are very useful tools for content based image retrieval (CBIR) that can be applied on features such as colour, texture and shape. As these kinds of histograms results with large variations between neighbouring bins, they seem so sensitive to any kind of changes such as noise, illumination. To overcome this problem, in this paper, fuzzy linking histogram approach based on OWA aggregation operator is proposed, which is capable of projecting 3-dimensional (L*a*b*) colour histograms into single-dimension. The proposed method have been evaluated and compared with five other related methods in retrieving similar images from the common dataset which is available on http://***/~konkonst. The experimental results on 100 images within two categories of Cat and Sky reveals better performance of the proposed method in comparison with the other mentioned methods.

关键词： Open wireless architecture Joining processes Histograms Image retrieval Colored noise Color Content based retrieval Shape Noise shaping Lighting

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A Robust Dynamic Watermarking Scheme

A Robust Dynamic Watermarking Scheme

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International Conference on Information engineering and computer science (ICIECS)

作者： Ke Yin Zhi-quan Wang Ke-xin Yin School of Automation Nanjing University of Science and Technology of PLA Nanjing China Electric Power Simulation and Control Engineering Center of Nanjing Institute of Technology Nanjing China School of Automation in Nanjing University of Science Technology Nanjing China College of computer science and engineering Changchun University of technology China

A new data structure dynamic watermarking scheme is proposed in this paper. Using Shamir threshold scheme and block encryption, the watermark is divided into several shares. Then these shares are embedded into the dynamic branch structure of program. Code obfuscation technique is applied during embedding. Our scheme provides watermarks with increased robustness, decreased visibility and higher cost performance ratio.

关键词： Robustness Watermarking Cryptography Automation Intellectual property Topology Resists Resumes Computational modeling computer simulation

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H∞ Filtering for Neutral Stochastic Systems with Time-Varying Delays

H∞ Filtering for Neutral Stochastic Systems with Time-Varyi...

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Joint 48th IEEE Conference on Decision and control and 28th Chinese control Conference

作者： Lin Li Yingmin Jia Junping Du Hideki Kokame the Department of Systems and Control Beihang University (BUAA) the Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and TechnologyBeijing University of Posts and Telecommunications the College of Engineering Osaka Prefecture University

This paper is devoted to the problem of H filtering for a class of neutral stochastic systems with both discrete and distributed time-varying *** objective is to design a full order filter such that the resulting filtering error system is stochastically asymptotically stable with a prescribed H∞performance *** on the stability theory of stochastic systems,a delay-dependent and rate-dependent sufficient condition for the existence of filter is obtained in terms of linear matrix inequalities（LMIs）.The corresponding filter design method is also proposed,while the explicit expression for the desired filter is given.A numerical example is finally included to illustrate the effectiveness of the proposed method.

关键词： Filtering for Neutral Stochastic Systems with Time-Varying Delays filter

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Approximation-Based Adaptive Tracking control of Pure-Feedback Nonlinear Systems with Multiple Unknown Time-Varying Delays

Approximation-Based Adaptive Tracking Control of Pure-Feedba...

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Joint 48th IEEE Conference on Decision and control and 28th Chinese control Conference

作者： Min Wang Shuzhi Sam Ge College of Automation and the Center for Control and Optimization South China University of Technology the Institute of Intelligent Systems and Information Technology University of Electronic Science and Technology of China the Department of Electrical and Computer Engineering National University of Singapore

This paper presents adaptive neural tracking control for a class of non-affine pure-feedback systems with multiple unknown state time-varying delays. The separation technique is introduced to decompose unknown functions of all time-varying delayed states into a series of continuous functions of each delayed state. A novel Lyapunov-Krasovskii functional is employed to compensate for the unknown function of current delayed state, which is effectively free from any restrictive assumption on unknown time-delay functions. The proposed control scheme guarantees the boundedness of all the signals in the closed-loop system and the tracking *** studies are provided to demonstrate the effectiveness of the proposed scheme.

关键词： Lyapunov Approximation-Based Adaptive Tracking control of Pure-Feedback Nonlinear Systems with Multiple Unknown Time-Varying Delays

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Embedded intelligent capability of a modular robotic system

Embedded intelligent capability of a modular robotic system

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IEEE International Conference on Robotics and Biomimetics

作者： H. X. Zhang J. Gonzalez-Gomez S.Y. Chen J. W. Zhang Institute of Technical Aspects of Multimodal Systems Department of Computer Science University of Hamburg Hamburg Germany Control and Telematics Systems Laboratory Universidad Autonoma de Madrid Spain College of Information Engineering Zhejiang University of Technology Hangzhou China

The last few years have witnessed an increasing interest in modular reconfigurable robotics for education, inspired robotic research, and space applications. This paper presents the latest results of the cube-M modular project. Firstly, an overview of the research achievements in modular robot is given. Then the new modular robot cube-M with one degree of freedom, an improved version of the Y1 modular robot, is presented. After that, the discussion focuses on the realization of a distributed hardware and control. Each module has embedded intelligent capabilities with an independent onboard controller to enable the realization of completely modular design. In the end, a snake-like robot prototype is built to confirm the feasibility of our design principle.

关键词： Intelligent robots Orbital robotics Prototypes Pulse width modulation Educational robots Joining processes Mobile robots Leg Arm Legged locomotion

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A novel fingerprint recognition algorithm using 2DPCA and RBFNN

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Journal of Information and Computational science 2009年第4期6卷 1899-1906页

作者： Ni, Jianyun Xu, Qinmin Lei, Ming Luo, Jing Tianjin Key Laboratory for Control Theory and Applications in Complicated Systems Tianjin University of Technology Tianjin 300191 China School of Electrical Engineering Tianjin University of Technology Tianjin 300191 China School of Computer Science and Technology Tianjin University of Technology Tianjin 300191 China College of Electrical Engineering and Automation Tianjin Polytechnic University Tianjin 300160 China

Fingerprint recognition algorithm based on minutiae has large computation, slow recognition speed as a result of complex processing, such as image enhance, smooth, binary, and thinning. A novel fingerprint recognition algorithm Using 2DPCA(Two-Dimensional Principal Component Analysis) has been proposed in this paper. Firstly, original images are decomposed into high-frequency and lowfrequency components with the help of Wavelet Transform (WT), and high-frequency components are ignored, so the prime features of original images can be attained. Secondly, the projected features are solved by 2DPCAFinallyfingerprint recognition can be realized by Radial Basis Function Neural Network (RBFNN). The algorithm combines the optimization of the 2DPCA and the adaptability of RBFNN. The experimental results based on FVC2002 have verified that the proposed algorithm has higher robustness to the fingerprint images which has the change of shift and rotation and light than IDFFWNN. © 2009 Binary Information Press.

关键词： Wavelet transforms

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Stable Vision System for Indoor Moving Robot Using Encoder Information

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IFAC Proceedings Volumes 2009年第16期42卷 50-55页

作者： Eun Sub Shim Wonsang Hwang Muhammad Latif Anjum Hyun Seok Kim Kwang Suk Park Kwangsoo Kim Dong-il “Dan” Cho School of Electrical Engineering and Computer Science Seoul National University San 56-1 Shinlim-dong Kwanak-ku Seoul 151-742 Korea Department of Biomedical Engineering College of Medicine Seoul National University 28 Yongon-Dong Chongno-Ku Seoul 110-799 Korea Department of Control and Instrumentation Engineering Hanbat National University 16-1 Dukmyung-dong Yuseong-gu Deajeon 305-719 Korea

Abstract This paper addresses a stable vision system for indoor moving robot using encoder information. The proposed system uses encoder signals to calculate robot motion and rotates the camera in order to fix the target on the image frame during locomotion. Since the calculation of rotating angle of the camera is based on the integration of encoder data over time, this leads to the unbounded accumulation of error. To prevent the error accumulation, vision sensor signals are used periodically to compensate for the errors. The resulting standard deviations of the rotated camera angle error were 0.94°, 0.32° and 1.55° for rotation, translation and rotation-translation combined motion while the robot heading angles have standard deviations of 23.27°, 16.56° and 48.53°, respectively. However, the system shows performance degradation in slippery ground conditions. In our experiments the errors have trends to increase with the decrease of friction coefficient between the ground and the robot wheels. Future work should overcome this problem using additional sensors such as inertial measurement units (IMUs) that are able to detect the correct robot motion even in the case of slip disturbance.

关键词： stable vision robot vision robotics

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