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International Carpathian control Conference (ICCC)

作者： Eubomír Dorcák Juraj Valsa Ján Terpák Emmanuel Gonzalez Institute of Control and Informatization of Production Processes Faculty BERG Technical University of Košice Kosice Slovakia Faculty of Electrical Engineering and Computer Science Brno University of Technology Brno Czech Republic Department of Computer Technology College of Computer Studies De La Salle University Manila Philippines

Real objects in general are fractional-order systems, although in some types of systems the order is very close to an integer order. Since major advances have been made in this area in the last decades, it is possible to consider also the real order of the dynamical systems by using fractional order of the differential equations. Such models are more adequate for the description of dynamical systems than integer-order models. Appropriate methods for the numerical calculations of fractional-order differential equations are needed. In this contribution we will compare some previous methods used for simulation purposes with the methods based on approximate formulas for numerical inversion of Laplace transforms. The verification and comparison will be based mainly on the accuracy and computing time which is very important e.g. in the tasks of simulation or identification using optimization methods where too many calculations are needed and faster methods can save time very significantly.

关键词： Approximation methods Numerical models Accuracy Mathematical model Differential equations Computational modeling control systems

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Synergy level impedance control for multifingered hands

Synergy level impedance control for multifingered hands

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2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Thomas Wimböck Benjamin Jahn Gerd Hirzinger Institute of Robotics and Mechatronics German AeroSpace Center (DLR) Wessling Germany Control Engineering Group Computer Science and Automation Faculty Ilmenau University of Technology Ilmenau Germany

In many robotic manipulation tasks a robotic hand is used to just grasp and fix the object of interest while the object motion is performed by the arm. Motivated by the analysis on human grasping using data reduction techniques, we applied this concept to the DLR Hand II. Therefore, we analyzed the grasp database that was grown over the past years to find suitable robotic ¿synergy coordinates¿. 74% of these grasps can be represented by two coordinates that were originally defined by 12 joint variables. As a second step, a synergy impedance controller was derived and implemented extending the work on passivity based hand control at DLR. This controller for torque-controlled robot hands allows to imitate the behavior of a synergistic, respectively underactuated, hand. Such a controller provides furthermore a simplified interface for higher level grasping strategies and allows furthermore to manually teach new grasps easily. The controller was evaluated on the DLR Hand II by commanding steps that demonstrate the desired transient behavior. Finally, two objects were successfully grasped validating our approach.

关键词： Robot kinematics Joints Impedance Databases Grasping Symmetric matrices

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Some advanced Techniques in Reducing Time for Path Planning Based on Visibility Graph

Some Advanced Techniques in Reducing Time for Path Planning ...

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International Conference on Knowledge and Systems engineering (KSE)

作者： Tran Thi Nhu Nguyet Tran Van Hoai Nguyen Anh Thi Faculty of Computer Science and Engineering Ho Chi Minh City University of Technology Ho Chi Minh Vietnam Key Laboratory on Digital Control and System Engineering (DCSE) VNU-HCM Ho Chi Minh Vietnam

This paper describes some techniques based on polygon aggregation in reducing time for visibility graph in case of many obstacles. In path planning, the approaches are commonly used such as search-based, sampling-based or combinatorial planning. And visibility graph is one of the roadmaps of combinatorial planning. Building a visibility graph is a main phase in the whole process and theoretically it takes θ(nlogn). However, with some practical applications, for example one which has a large number of obstacles, this phase is very time-consuming. With the techniques proposed, the experiment result shows that the computing time gets a reduction factor of one-third approximately when the aggregation are used in preprocessing of building visibility graph.

关键词： Path planning Planning Clustering algorithms Complexity theory Educational institutions Robots Merging

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A novel approach for protein spots quantification in two-dimensional gel images

International Journal of Signal Processing, Image Processing...

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International Journal of Signal Processing, Image Processing and Pattern Recognition 2011年第1期4卷 1-14页

作者： Rashwan, Heshmat A. Sarhan, Amany M. Faheem, Muhammed Talaat Youssef, Bayumy A. Knowledge-Based Systems Department Informatics Research Institute Mubarak City for Science and Technology Borg ElArab Alexandria Egypt Computers and Automatic Control Engineering Department Faculty of Engineering University of Tanta Tanta Egypt Computer-Based Applications Department Informatics Research Institute Mubarak City for Science and Technology Borg ElArab Alexandria Egypt

Two-dimensional polyacrylamide gel electrophoresis of proteins is a robust and reproducible technique. It is the most widely used separation tool in proteomics. Current efforts in the field are directed at development of tools for expanding the range of proteins accessible with two-dimensional gels. Proteomics was built around the two-dimensional gel. The idea that multiple proteins can be analyzed in parallel grew from two-dimensional gel maps. Proteomics researchers needed to identify interested protein spots by examining the gel. This is time consuming, labor extensive and error prone. It is desired that the computer can analyze the proteins automatically by first detecting then quantifying the protein spots in the 2-D gel images. In our previous work, we presented a new technique for segmentation of 2-D gel images using the fuzzy c-means algorithm using the notion of fuzzy relations. In this paper, we will describe the new relational fuzzy c-means algorithm (RFCM) and use it for automatic protein spots quantification. We will also use two methods to evaluate its performance: the unsupervised evaluation method and comparison with the expert spots quantification.

关键词： Proteins

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Optimizing parameters of LS-SVM based on chaotic ant swarm algorithm

Optimizing parameters of LS-SVM based on chaotic ant swarm a...

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2011 International Conference on Electric Information and control engineering, ICEICE 2011

作者： Xie, Chunli Shao, Cheng Zhao, Dandan Cao, Jiangtao Faculty of Electronic Information and Electrical Engineering Dalian University of Technology Liaoning Province 116024 China College of Electromechanical and Information Engineering Dalian Nationalities University Dalian Liaoning Province 116600 China School of Computer Science and Engineering Dalian Nationalities University Liaoning Province 116024 China School of Information and Control Engineering Liaoning Shihua University Fushun 113001 China

ISBN: (纸本)9781424480395

Appropriate parameters are very crucial to the learning performance and generalization ability of least-squares support vector machines (LS-SVM). In this paper, a novel parameter selection method for LS-SVM is presented based on chaotic ant swarm (CAS) algorithm. The selection problem of LS-SVM parameters is considered as a compound optimization problem. Then objective function of optimization problem is set and a CAS optimization algorithm is employed to search optimal objective function. CAS algorithm is global search method and it need not to consider LS-SVM dimensionality and complexity. The simulation results show that the proposed method is an effective approach for parameter optimization and the good performance for function approximation is obtained. © 2011 IEEE.

关键词： Support vector machines

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An interactive high-fidelity haptic needle simulator with GPU acceleration

An interactive high-fidelity haptic needle simulator with GP...

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9th ACM SIGGRAPH International Conference on VR Continuum and Its Applications in Industry, VRCAI 2010

作者： Zhang, Ji-Shuai Chen, Hui Wu, Wen Heng, Pheng-Ann Shenzhen Institute of Advanced Integration Technology Chinese Academy of Sciences Chinese Univ. of Hong Kong Shenzhen China Intelligence Engineering Lab. Institute of Software Chinese Academy of Sciences Beijing China Department of Computer and Information Science Faculty of Science and Technology University of Macau China Department of Computer Science and Engineering Chinese University of Hong Kong Hong Kong Hong Kong

ISBN: (纸本)9781450304597

Needle operation is one of the fundamental operations in many surgeries such as acupuncture, liver biopsy and anesthesia. During such procedure, the haptic perception is especially important for surgeons to manipulate the needles. In this paper, a simulator with realistic visual and haptic interaction for the needle insertion operation is presented. A fast graphics processing unit (GPU) computation for soft tissue deformation is implemented based on Compute Unified Device Architecture (CUDA) architecture. Novel haptic models for different tissues are developed to generate the resultant force. Besides, an interpolating method of haptic frequency is proposed to acquire more satisfied smooth haptic rendering effect. Experimental results show that a high multi-tissue identification rate can be achieved in the needle interactive simulation system with the real-time soft tissue deformation performed even on the large-scale models. Copyright © 2010 by the Association for Computing Machinery, Inc.

关键词： Tissue

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Multiscale Gaussian Markov random fields for writer identification

Multiscale Gaussian Markov random fields for writer identifi...

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International Conference on Wavelet Analysis and Pattern Recognition

作者： Ning, Liangshuo Zhou, Long You, Xinge Du, Liang He, Zhengyu Faculty of Mathematics and Computer Science Hubei University Wuhan China Department of Electrical and Information Engineering Wuhan Polytechnic University Wuhan China Department of Electronics and Information Engineering Huazhong University of Science and Technology Wuhan China Department of Computer Science and Technology Harbin Institute of Technology Shenzhen Graduate School China

ISBN: (纸本)9781424465309

Writer identification recently has been considerably studied due to its various applications in forensic and commercial sections. Because offline, text-independent writer identification has limited requirements in writing sample collection, it has wider applications and meanwhile more difficult to handle. By considering handwriting images as visually distinctive textures, we propose a new method for offline, text-independent writer identification based on multiscale version of Gaussian Markov Random Fields (G MRF) model. The handwriting features are extracted in wavelet domain of handwriting textures in which global texture feature (such as directional information) from handwriting can be detected. In addition, GMRF is investigated to capture different local spatial structures of graphemes (character-shape) written by different people. The experimental results demonstrate that the proposed method outperforms both 2-D Gabor model and wavelet-based GGD method. ©2010 IEEE.

关键词： Markov processes

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Noninvasive biosignal measurement of a subject in bed using ceramic sensors

Noninvasive biosignal measurement of a subject in bed using ...

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作者： Shino, Toshihiro Watanabe, Kajiro Kobayashi, Kazuyuki Suzuki, Kaoru Kurihara, Yosuke System Control Engineering Department Faculty of Engineering Hosei University Koganei-shi Tokyo Japan Department of Computer and Information Science Faculty of Science and Technology Seikei University Musashino-shi Tokyo Japan

This paper describes a novel noninvasive method for sensing heartbeat, respiration and body-movement biosignals of a subject in bed by using ceramic piezo devices set under the legs of the bed. © 2010 SICE.

ISBN: (纸本)9784907764364

关键词： Noninvasive medical procedures

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A new watershed algorithm for protein spot detection in 2DGE images using the notion of fuzzy relations

A new watershed algorithm for protein spot detection in 2DGE...

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2010 2nd International Conference on computer technology and Development, ICCTD 2010

作者： Rashwan, Shaheera Faheem, Talaat Sarhan, Amany Youssef, Bayumy A.B. Informatics Research Institute Mubarak City for Science and Technology Borg ElArab Alexandria Egypt Computer Science and Automatic Control Department Faculty of Engineering Tanta University Tanta Egypt

ISBN: (纸本)9781424488438

An important issue in the analysis of two-dimensional electrophoresis images is the detection and quantification of protein spots. The main challenges in the segmentation of 2DGE images are to separate overlapping protein spots correctly and to find the abundance of weak protein spots. To enable comparison of protein patterns between different samples, it is necessary to match the patterns so that homologous spots are identified. In this paper we describe a new robust technique to segment and model the different spots present in the gels. The watershed segmentation algorithm is modified to handle the problem of over segmentation by initially partitioning the image to mosaic regions using the composition of fuzzy relations. The experimental results showed the effectiveness of the proposed algorithm to overcome the over segmentation problem associated with the available algorithms. © 2010 IEEE.

关键词： Electrophoresis

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T2: A novel two degree-of-freedom translational parallel robot for pick-and-place operation

T2: A novel two degree-of-freedom translational parallel rob...

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2010 8th IEEE International Conference on control and Automation, ICCA 2010

作者： Li, Zhibin Lou, Yunjiang Li, Zexiang Yang, Guilin Gao, Jian Division of Control and Mechatronics Engineering Shenzhen Graduate School Harbin Institute of Technology Shenzhen China School of Mechanical and Electrical Engineering Shenzhen Polytechnic China Department of Electronic and Computer Engineering Hong Kong University of Science and Technology Hong Kong Hong Kong Singapore Institute of Manufacturing Technology Singapore Singapore School of Electromechanical Engineering Guangdong University of Technology 729 East Dongfeng Road Guangzhou 510090 China

ISBN: (纸本)9781424451951

This paper deals with the conceptual design and kinematic analysis of a novel 2-DOF translational parallel robot for pick-and-place operations named as T2. The proposed architecture is composed of two actuated kinematic chains in the vertical plane and a passive chains in the transversal plane to make the orientation of the moving platform unchangeable. It not only has high speed and high acceleration, but also has a simple and symmetrical mechanism, and will be easier to control and cheaper than the existing 2-DOF robot. In this paper, the loop-closure equations of the robot is derived. the inverse kinematics, forward kinematics, singularity, and workspace analysis are presented. © 2010 IEEE.

关键词： Robots

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