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International Conference on Advanced Mechatronic systems (ICAMechS)

作者： Kota Kogiso Shiro Masuda Takao Sato Faculty of System Engineering Tokyo Metropolitan University Hino Tokyo Japan Faculty of Electrical Engiueering Mathematics and Computer Science Tokyo Metropolitan University Tokyo Japan Department of Mechanical and system Engineering Univercity of Hyogo Chuo-ku Kobe Hyogo Japan

The nonlinear model predictive control (MPC) needs to solve a two-point boundary-value problem (TP-BVP) at every sample time based on the receding horizon control strategy. However, solving a nonlinear algebraic equation for the TP-BVP requires high computational load, so developing an efficient computation method of the control law in real-time is a significant issue on the research of the nonlinear model predictive control. This paper proposes an efficient calculation method of the control law for nonlinear MPC. The proposed approach searches an optimal step-type input signal for a given performance index beforehand, then the input signal is successively updated using a continuation method. Hence, it can reduce the computation load because the number of the parameter to be optimized becomes one in the SISO case or the number of the inputs in the MIMO case, and solving TP-BVP can be avoided by a continuation method. In addition, the accuracy of the nonlinear algebraic equation, which gives the optimal condition, keeps well by analytically deriving the updating law of the MPC control law. A numerical example shows that the proposed method can reduce the computation load of the nonlinear MPC, while the accuracy of the optimal conditions given by the nonlinear algebraic equations keeps a tolerance level.

关键词： Predictive control Equations Optimization Design methodology Mathematical model computers Numerical models

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A Potential Field Method-based Extension of the Dynamic Movement Primitive Algorithm for Imitation Learning with Obstacle Avoidance

A Potential Field Method-based Extension of the Dynamic Move...

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2011 IEEE International Conference Mechatronics and Automation(2011 IEEE机电一体化与自动化国际会议)

作者： Huan Tan Erdem Erdemir Kazuhiko Kawamura QianDu Department of Electrical Engineering and Computer Science Vanderbilt University Nashville TN37212 Institute of Robotics and Automatic Information System Nankai University Tianjin 300071 China

This paper proposes an extension of the original Dynamic Movement Primitive (DM?) algorithm proposed by S. Schaal to imitation learning for object avoidance in a dynamic environment. A potential field was incorporated into the original DMP algorithm by using a virtual goal position which is calculated using a potential field. A humanoid robot ISAC was trained in simulation to learn how to generate movements similar to the demonstrated movements when an obstacle is placed in the environment. This proposed extension provides robots more robust and flexible movement generation when an obstacle exists. Simulations were performed to verify the effectiveness of the method.

关键词： Imitation Learning Dynamic Movement Primitive Potential Field Obstacle Avoidance.

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Human arm motion modeling and long-term prediction for safe and efficient Human-Robot-Interaction

Human arm motion modeling and long-term prediction for safe ...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Hao Ding Gunther Reißig Kurniawan Wijaya Dino Bortot Klaus Bengler Olaf Stursberg Institute of Control and System Theory Department of Electrical Engineering and Computer Science University of Kassel Germany Institute of Ergonomics Technische Universität München Garching Germany

Modeling and predicting human behavior is indispensable when industrial robots interacting with human operators are to be manipulated safely and efficiently. One challenge is that human operators tend to follow different motion patterns, depending on their intention and the structure of the environment. This precludes the use of classical estimation techniques based on kinematic or dynamic models, especially for the purpose of long-term prediction. In this paper, we propose a method based on Hidden Markov Models to predict the region of the workspace that is possibly occupied by the human within a prediction horizon. In contrast to predictions in the form of single points such as most likely human positions as obtained from previous approaches, the regions obtained here may serve as safety constraints when the robot motion is planned or optimized. This way one avoids collisions with a probability not less than a predefined threshold. The practicability of our method is demonstrated by successfully and accurately predicting the motion of a human arm in two scenarios involving multiple motion patterns.

关键词： Hidden Markov models Humans Robots Safety Predictive models Trajectory Silicon

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Implementing a passive RFID e-seal system for transit container security: A case study of Kaohsiung Port

Advances in Transportation Studies

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Advances in Transportation Studies 2011年第26期 69-88页

作者： Huang, S.-W. Lee, M.-T. Gong, D.-C. Department of Industrial and Systems Engineering College of Electrical Engineering and Computer Science Chung Yuan Christian University Chung-Li Tao-Yuan 320 Taiwan Electronic System Research Division Chung-Shan Institute of Science and Technology Long-Tan Tao-Yuan 325 Taiwan

Nearly 80 % of worldwide trade (over US $620 billion) is carried by marine transport. Unfortunately, manually identifying, tracking, and monitoring containers involves a great many logistical problems. The security of container transportation has also become an issue of critical importance, with regard to theft, tracking, tracing, and national security. This paper describes the passive radio frequency identification (RFID) electronic seal (e-seal) monitoring system that was implemented using existing low-cost passive RFID e-seals devices to replace the manual escorts. The system successfully overcame the harsh outdoor environment of Kaohsiung Port, including resistance to high temperature, high salinity, humidity, and typhoons. The system comprises a reader, an e-seal (tag), and an antenna, and its optimal installation architecture is being disclosed in this paper. The reading rate not only has been maintained at levels above 97.4 % when a container truck travel passes an RFID reader at a speed of up to 60 kilometers per hour in 0.2 seconds, the system has also maintained normal operation 24 hours a day, year round. The system has moved beyond the testing phase or small-scale pilot project bringing RFID technology to practical operations of large-scale logistics systems. The architecture, procedures, methodologies, and experience involved in the development of this system, deserve consideration as a guide for the future introduction of RFID systems, and can relieve operators from the expensive, time-consuming trial and error involved in the introduction of passive RFID e-seal systems in the container transport industry.

关键词： National security

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Click Trajectories: End-to-End Analysis of the Spam Value Chain

Click Trajectories: End-to-End Analysis of the Spam Value Ch...

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IEEE Symposium on Security and Privacy

作者： Kirill Levchenko Andreas Pitsillidis Neha Chachra Brandon Enright Mark Felegyhazi Chris Grier Tristan Halvorson Chris Kanich Christian Kreibich He Liu Damon McCoy Nicholas Weaver Vern Paxson Geoffrey M. Voelker Stefan Savage Department of Computer Science and Engineering University of California San Diego USA Laboratory of Cryptography and System Security (CrySyS) Budapest University슠of슠Technology슠and슠Economics Hungary Computer Science Division University of California Berkeley USA International Computer Science Institute Berkeley CA USA

Spam-based advertising is a business. While it has engendered both widespread antipathy and a multi-billion dollar anti-spam industry, it continues to exist because it fuels a profitable enterprise. We lack, however, a solid understanding of this enterprise's full structure, and thus most anti-Spam interventions focus on only one facet of the overall spam value chain (e.g., spam filtering, URL blacklisting, site takedown).In this paper we present a holistic analysis that quantifies the full set of resources employed to monetize spam email -- including naming, hosting, payment and fulfillment -- using extensive measurements of three months of diverse spam data, broad crawling of naming and hosting infrastructures, and over 100 purchases from spam-advertised sites. We relate these resources to the organizations who administer them and then use this data to characterize the relative prospects for defensive interventions at each link in the spam value chain. In particular, we provide the first strong evidence of payment bottlenecks in the spam value chain, 95% of spam-advertised pharmaceutical, replica and software products are monetized using merchant services from just a handful of banks.

关键词： Feeds Electronic mail Servers Business Advertising Web sites Crawlers

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Knowledge Granulation in Interval-Valued Information systems

Knowledge Granulation in Interval-Valued Information Systems

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International Workshop on Intelligent systems and Applications, ISA

作者： Nan Zhang Duoqian Miao Can Gao Department of Computer Science and Technology University of Tongji Shanghai China Department of Electrical and Computer Engineering University of Alberta Edmonton AB Canada Key Laboratory of Embedded System and Service Computing of Ministry of Education University of Tongji Shanghai China

Rough set theory, proposed by Pawlak, has been proved to be a mathematical tool to deal with vagueness and uncertainty in intelligent information processing. In this paper, we propose the concept of knowledge granulation in interval-valued information systems, and discuss some important properties. From these properties, it can be shown that the proposed knowledge granulation provides important approaches to measuring the discernibility of different knowledge. It may be helpful for rule evaluation and knowledge discovery in interval-valued information systems.

关键词： Information systems Approximation methods Uncertainty Rough sets computers Entropy

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Applying a Case-based Reasoning Method for Reducing Fault Diagnosis's Time During Maintenance

Applying a Case-based Reasoning Method for Reducing Fault Di...

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2011 International Conference on Advancements in Information Technology（ICAIT 2011）

作者： Amin Naderi Nasab Nasser Modiri Pantea Arya Department of Management Information System Electronic BranchIslamic Azad UniversityTehranIran Department of Computer Engineering Zanjan BranchIslamic Azad UniversityTehranIran Department of Computer Science Central BranchIslamic Azad UniversityTehranIran

The development of a fault-diagnosis system(FDS) could be helpful in identifying the source of faults before the occurrence of complete system *** we report on such a diagnostic procedure for narrowing down maintenance tasks and shortening system down *** software is developed based on case-based reasoning(CBR) from previous maintenance experience,for a wet magnetite separator machine(WMSM).The techniques of fault tree analysis(FTA) and information flow analysis are used to systematically clarify possible faults and symptoms shown by a *** possible faults and symptoms of the machinery are set up by analyzing the system's fault trees and its information flow.A logical process is introduced to determine the correlation between the possible faults and the symptoms for computing case similarity while progressing CBR diagnosing and used for calculating case similarity is proposed to formulate the diagnostic algorithms for the *** diagnosing could effectively reduce the training time of maintenance personnel,especially for a ***,The front pages of the FDS are created using an ASP program in cooperation with an Access *** results show that the FDS provides a good support for the maintenance of WMSMs and we can reduce the maintenance time.

关键词： fault diagnosis,fault tree analysis,case-based reasoning,wet magnetite separator machine

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Adaptive social network construction using Gaussian mixture model

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Information Technology Journal 2011年第12期10卷 2252-2259页

作者： Guo, Xin Xiang, Yang Chen, Qian Wei, Wei Department of Computer Science and Technology School of Electronic and Information Engineering Tongji University Shanghai 201804 China Key Laboratory of Embedded System and Service Computing Ministry of Education Tongji University Shanghai 200092 China

A Social network graph shows social interactions and relationships between individuals in a specific social environment, which is very helpful for analyzing social relationships, activities, structures, etc. The author quantized the strengths of social objects' relationships in social environment using an improved vector space model. Gaussian mixture model was employed to set the threshold for identifying social relationships adaptively and divide social subgroups automatically. According to the threshold, social network graph would be constructed based on performance measures. It is concluded that hidden social relationships can be discovered effectively by using this approach which is very flexible and adaptive for dynamic information feedback mechanism. © 2011 Asian Network for Scientific Information.

关键词： Gaussian distribution

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Tracking end-users in web databases

Proceedings - 2011 5th International Conference on Network a...

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Proceedings - 2011 5th International Conference on Network and system Security, NSS 2011 2011年 105-112页

作者： Rozenberg, Boris Gonen, Yaron Gudes, Ehud Gal-Oz, Nurit Shmueli, Erez Deutche Telekom Laboratories BGU and Department of Computer Science Ben Gurion University Beer Sheva 84105 Israel Deutche Telekom Laboratories BGU and Department of Information System Engineering Ben Gurion University Beer Sheva 84105 Israel

ISBN: (纸本)9781457704598

When a database is accessed via a web application, users usually receive a pooled connection to the database. From a database point of view, such a connection is always established by the same user (i.e. the web application) and specific data on the end user is not available. As a consequence, users' specific transactions cannot be audited and fine-grained access control cannot be enforced at the database level. In this paper we propose a method and a system which provide the ability to track the end users in web databases. The new method can be applied to legacy web applications without requiring any changes in their existing infrastructure. Furthermore, the new users tracking ability provides a basis for native database protection mechanisms, and intrusion detection systems. © 2011 IEEE.

关键词： Database systems

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Contractor selection using fuzzy comparison judgement

Contractor selection using fuzzy comparison judgement

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Malaysian Conference in Software engineering (MySEC)

作者： Ros Haslinda Alias Noor Maizura Mohamad Noor Md Yazid Mohd Saman Mohd Lazim Abdullah Ali Selamat Universiti Malaysia Terengganu Kuala Terengganu Terengganu MY Software Engineering Department Faculty of Computer Science and Information System Universiti Teknologi Malaysia Johor Darul Takzim Malaysia

A model is proposed for selecting the optimal result of contractor selection under multi criteria environment. Fuzzy comparing judgment is used to tackling the vagueness and uncertainty in choosing significant preferences by decision maker regarding to the subjective opinion. Finally, the model was tested in tender evaluation processes for awarding the most beneficial contractor to perform the construction project.

关键词： Decision making Vectors Fuzzy sets Pragmatics Humans Mathematical model Expert systems

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