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Asia-Pacific Signal and Information Processing Association Annual Summit and Conference (APSIPA)

作者： Kohei Isechi Yoshimitsu Kuroki Advanced Engineering School Kurume National College of Technology Fukuoka Japan Department of Control and Information Systems Engineering Kurume National College of Technology Fukuoka Japan

The novel motion compensation called LIC (Local Intensity Compensation) predicts a current block using a linear combination of reference blocks. The weight coefficients of the LIC should be sparse in order to predict and to encode frames effectively. Sparse representation aims at obtaining the least possible number of non-zero coefficients and is a powerful solution for the LIC. Our previous work has proposed the LIC using sparse representation and has achieved high prediction accuracy. Video coding standards encode motion vectors and prediction errors of the macro blocks independently. The prediction errors are converted via DCT (Discrete Cosine Transform), and the quantized DCT coefficients are encoded. This means that the video coding standards predicts the current block using two steps, namely motion compensation and the DCT. Sparse representation is applied to optional basis vectors as reference blocks; thus, this study proposes a framework to conduct motion compensation and the DCT simultaneously by adding the DCT basis vectors into the sparse dictionary. Additionally, this study employs macro blocks generated using intra prediction because the intra prediction is also applied to the current block by neighbouring macro blocks. Experimental results demonstrate that the proposed method integrating the two steps shows high prediction accuracy.

关键词： Discrete cosine transforms Vectors Motion compensation Accuracy Dictionaries Video coding Acceleration

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A proximal alternating minimization method for ℓ0-regularized nonlinear optimization problems: application to state estimation

A proximal alternating minimization method for ℓ0-regulariz...

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IEEE Conference on Decision and control

作者： Andrei Patrascu Ion Necoara Panagiotis Patrinos Automatic Control and Systems Engineering Department University Politehnica Bucharest Romania IMT Institute for Advanced Studies Lucca Lucca Italy

In this paper we consider the minimization of ℓ 0 -regularized nonlinear optimization problems, where the objective function is the sum of a smooth convex term and the ℓ 0 quasi-norm of the decision variable. We introduce the class of coordinatewise minimizers and prove that any point in this class is a local minimum for our ℓ 0 -regularized problem. Then, we devise a random proximal alternating minimization method, which has a simple iteration and is suitable for solving this class of optimization problems. Under convexity and coordinatewise Lipschitz gradient assumptions, we prove that any limit point of the sequence generated by our new algorithm belongs to the class of coordinatewise minimizers almost surely. We also show that the state estimation of dynamical systems with corrupted measurements can be modeled in our framework. Numerical experiments on state estimation of power systems, using IEEE bus test case, show that our algorithm performs favorably on solving such problems.

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MPC for power systems dispatch based on stochastic optimization

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IFAC Proceedings Volumes 2014年第3期47卷 11147-11152页

作者： Ion Necoara Dragos N. Clipici Panagiotis Patrinos Alberto Bemporad University Politehnica Bucharest Automatic Control and Systems Engineering Department 060042 Bucharest Romania IMT Institute for Advanced Studies Lucca Piazza San Ponziano 6 55100 Lucca Italy

In this paper we investigate the problem of optimal real-time power dispatch of an interconnection of conventional power generation plants, renewable resources and energy storage systems. The objective is to minimize imbalance costs and maximize profits whilst satisfying user demand. The managing company is able to trade energy on an electricity market. Energy prices, demand and renewable generation are considered stochastic processes. We show that under certain assumptions, the stochastic power dispatch problem over a finite horizon can be recast into a stochastic optimization formulation but with deterministic constraints. We carry out a systematic study of stochastic optimization methods to solve this problem. We also show that this problem can be approximated by a proper deterministic optimization problem using the sample average approximation method, which can then be solved by standard means.

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A visual supporting system for teleoperation of robot arm using visual servo control

A visual supporting system for teleoperation of robot arm us...

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SICE Annual Conference

作者： Teruaki Suetsugu Yoshitaka Matsuda Takenao Sugi Satoru Goto Naruto Egashira Department of Advanced Technology Fusion Saga University Saga Japan Department of Control and Information Systems Engineering Kurume National College of Technology Fukuoka Japan

In this research, a visual supporting system for the teleoperation of a robot arm using visual servo control is developed. The supporting system is constructed by improving an existing teleoperation system developed by the authors, where the purpose of the existing teleoperation system was to realize an exact motion of robot arm by an autonomous control using visual servo and a rough motion of teleoperation. First, the command generation mechanism used for the manual operation is simplified. Secondly, a function of displaying information of the distance about the target object on the image obtained from vision system is added. Furthermore, the detection result is also displayed on the image. Experiments using an actual robot arm were conducted to verify the effectiveness of the proposed supporting system.

关键词： Visualization Cameras Robot vision systems Image processing Microswitches Servomotors

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A novel approach for localization of an indoor autonomous mobile surveillance robot 11

A novel approach for localization of an indoor autonomous mo...

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2014 11th World Congress on Intelligent control and Automation, WCICA 2014

作者： Jiang, Guolai Syed, Muhammad Umer Liu, Letian Ou, Yongsheng Xu, Yangsheng Malik, Muhammad Sarfaraz Chandio, Aftab Ahmed Center for Intelligent and Biomimetic Systems Institute of Advanced Integration Technology Chinese Academy of Sciences Guangdong China Department of Mechanical and Automation Engineering Chinese University of Hong Kong Hong Kong Lab of Simulation and Intelligent Control University of Science and Technology of China Heife China Center for Cloud Computing Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences China

ISBN: (纸本)9781479958252

Localization of an autonomous mobile robot has always been a topic of interest in Robotics community. The constraints of working under different environments are constantly a challenge in designing an efficient localization system. We propose a localization algorithm for a mobile robot, which will be used for home security. The objective is to perform indoor localization efficiently and keeping the cost as low as possible so as to make it commercializable. Here, we introduce an approach based on recognizing a pattern generated by laser pointers on the wall, which is captured by an infrared camera. The image of this pattern is used to locate the position of a robot in the room. The problem of working under black ceiling has been overcomed because the projection is on the wall and is moving which also increases the range of operation. As the pattern is unique, the interference of strong sunlight has also been fixed to some extent. Experimental results show that the proposed approach is effective in real environment and opens new doors for future research. © 2014 IEEE.

关键词： Indoor positioning systems

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Switching median filter with signal dependent thresholds designed by using genetic algorithm

Switching median filter with signal dependent thresholds des...

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International Conference on Computer Vision Theory and Applications (VISAPP)

作者： Ryosuke Kubota Keisuke Onaga Noriaki Suetake Department of Intelligent System Engineering Ube National College of Technology Ube-shi Japan Ube National College of Technology Advanced Course of Production Systems Ube-shi Japan Graduate School of Science and Engineering Yamaguchi University Yamaguchi-shi Yamaguchi Japan

ISBN: (纸本)9781479976867

In this paper, we propose a new switching median filter with signal dependent thresholds designed by a genetic algorithm (GA). The switching median filter detects noise-corrupted pixels based on a threshold. Then it restores only the detected pixels. The present switching median filter deals with the random-valued impulse noises, whose distribution is ideally assumed as a uniform distribution. In the present method, the switching median filter, which has two kinds of the thresholds, is introduced. One is switching thresholds to detect the noise, and the other is selecting thresholds to choose the suitable switching threshold. As the suitable selecting threshold, a variance of signals is used. Then all of the switching and selecting thresholds of the proposed switching median filter are automatically optimized by using GA. To optimize the thresholds with GA, distribution distance between the assumed and the detected noises is employed as a fitness function. The validity and effectiveness of the proposed method is verified by some experiments.

关键词： Noise Switches Genetic algorithms Tuning Image restoration Detectors Sun

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Computational algorithm for fish schooling using bitmap image

Computational algorithm for fish schooling using bitmap imag...

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2013 52nd Annual Conference of the Society of Instrument and control Engineers of Japan, SICE 2013

作者： Kushida, Kana Fukuda, Koji Sugino, Ryuzaburo Morizumi, Noboru Advanced Course of Electricity and Control System Engineering Anan National College of Technology Tokushima Japan Department Systems and Control Engineering Anan National College of Technology Tokushima Japan

Some kinds of living creatures like fish, form groups and show aggregate movements. Although there are many papers about the model of fish-like behavior, the comparison with behavior of model and actual fish has not been reported in almost papers. The purpose of this study is to build the model which generates the action similar to behavior of actual fish. The model will be represented as the computer algorithms. And if the algorithm is implemented to the artificial system, the behavior of the system is in agreement with actual fish. In this paper, it is proposed the simple fish behavior model, and built the simulation system to check and evaluate the model. The system simulates the behavior of virtual small robots, and the robots is controlled by the proposed simple fish behavior model. The virtual robot will be received the force from the environment, and every robot which is a part of the environment will exert an influence on the behavior of other robots. To realize this simulation system, bitmap image is used as the force potential field. The value of one place in the potential field is represented by the one pixel's color intensity in the bitmap image. On the other hand, the water tank experiment was conducted using Japanese Horse Mackerel in Tokushima Fisheries Research Institute. The results of the simulation, the robots behave like a school of fish, however the trajectories of robots have the some kind of differences to actual fish swimming. The statistical, chaos and fractal analysis are tried to find the characteristics of robot and fish trajectories. As the results of these analyses of the simulation and experiment, the very interesting trends were recognized about the differences of the trajectories and swimming/moving speed.

关键词： Fish

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Development of measurement system and complexity analysis for three-dimensional fish swimming behavior

Development of measurement system and complexity analysis fo...

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2013 52nd Annual Conference of the Society of Instrument and control Engineers of Japan, SICE 2013

作者： Morimoto, Maki Sugino, Ryuzaburo Fukuda, Koji Itami, Shin Morizumi, Noboru Advanced Course of Electricity and Control System Engineering Anan National College of Technology Tokushima Japan Department of Systems and Control System Engineering Anan National College of Technology Tokushima Japan

Understanding of fish's behavior is one of the big subjects in fishery in order to catch the fish effectively. It is important to improve the efficiency of fishery and we must develop the new effective fishing method. The aim of this study is to extract the three-dimensional trajectory of fish swimming behavior. We develop the one of stereo camera system to extract fish trajectory from motion picture images. Furthermore, the chaos and fractal analyses are introduced to explain the complexity of fish behavior as intellectual animal behavior. We show the obtained results of the time series of swimming velocity using its reconstructed data and the effectiveness of 3D chaos and fractal analysis.

关键词： Fish

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Numerical accuuracy of extraction shape from point cloud using CIP-LSM

Numerical accuuracy of extraction shape from point cloud usi...

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2013 52nd Annual Conference of the Society of Instrument and control Engineers of Japan, SICE 2013

作者： Ishihara, Aoi Sugino, Ryuzaburo Fukuda, Koji Morizumi, Noboru Advanced Course of Electricity and Control System Engineering Anan National College of Technology Tokushima Japan Systems and Control Engineering Anan National College of Technology Tokushima Japan

The Level Set Method (LSM), introduced by S. Osher and J. A. Sethian, is a topological-free active contour model. This method is computational technique that rely on an implicit formulation of an interface, captured by partial differential equation(PDE). In this paper, we propose new computational algorithm which combine LSM with a high accuracy numerical analysis called the Constrained Interpolation Profile (CIP) scheme. We try to make the some numerical experiments that captured a profile from point cloud data, and showed the numerical accuracy of the CIP-LSM in comparison with other numerical schemes.

关键词： Image segmentation

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Fall detection for elderly by using an intelligent cane robot based on center of pressure (COP) stability theory

Fall detection for elderly by using an intelligent cane robo...

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International Symposium on Micromechatronics and Human Science (MHS)

作者： Pei Di Jian Huang Shotaro Nakagawa Kosuke Sekiyama Toshio Fukuda Department of Micro-Nano Systems Engineering Nagoya University Aichi Nagoya Japan Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan China Institute for Advanced Research Nagoya University Chikusa-ku Nagoya Japan The Intelligent Robotics Institute School of Mechatronic Engineering Beijing Institute of Technology China The Faculty of Science and Engineering Meijo University Japan

An intelligent cane robot was designed for aiding the elderly and handicapped people walking. The robot consists of a stick, a group of sensors and an omni-directional basis driven by three Swedish wheels. Multiple sensors were used to recognize the user's “walking intention”, which is quantitatively described by a new concept called intentional direction (ITD). Based on the guidance of filtered ITD, a novel intention-based admittance motion control (IBAC) scheme was proposed for the cane robot. To detect the fall of user, a detection method based on Dubois possibility theory was proposed using the combined sensor information from force sensors, a laser ranger finder (LRF) and an on-shoe load sensor. The human fall model was represented in a two-dimensional space, where the relative position between the center of pressure (COP) and the center of support triangle was utilized as a significant feature. The effectiveness of proposed fall detection method was also confirmed by experiments.

关键词： Legged locomotion Robot sensing systems Senior citizens Artificial intelligence

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