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第十二届中国智能机器人大会

作者： Xianghui Li Xinde Li Mohammad Omar Khyam Chaomin Luo Yingzi Tan Key Laboratory of Measurement and Control of CSE (Ministry of Education) School of Automation Sout Department of Electrical and Computer Engineering Faculty of Engineering National University of Si Department of Electrical and Computer Engineering University of Detroit Mercy Michigan USA

This paper proposes a new navigation method for mobile robots based on an extended BoW (Bag of Words) model for general object recognition in indoor *** SIFT (Scale-invariant Feature Transform) detection algorithm with the GPU (Graphic Processing Unit) acceleration technology is used to describe feature vectors in this ***,in order to add some redundant image information,statistical information of the spatial relationships of all the feature points in an image,i.e.,relative distances and angles,is used to extend the feature vectors in the original BoW ***,the unsupervised SVM (Support Vector Machine) classifier is used to classify ***,in order to navigate conveniently in unknown and dynamic indoor environments,a type of human-robot interaction method based on a hand-drawn semantic map is *** experimental results show that this new navigation technology for indoor mobile robots is very robust and highly effective.

关键词： general object recognition Bag of Words model mobile robot visual navigation

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Scheduling for Re-entrant Hybrid Flowshop Based on Wolf Pack Algorithm

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IOP Conference Series: Materials Science and engineering 2018年第3期382卷

作者： Zhonghua Han Xutian Tian Xiaofu Ma Shuo Lin Faculty of Information and Control Engineering Shenyang Jianzhu University Liaoning 110168 China Digital Factory Department Shenyang Institute of Automation CAS Shenyang 110016 China Information & Control Engineering Faculty Shenyang Jianzhu University Liaoning 110168 China Department of Electrical and Computer Engineering Virginia Tech Blacksburg VA USA 24060

In order to solve the scheduling problems of Re-entrant Hybrid Flowshop (RHFS), this paper investigates the mathematical programming model of RHFS, and proposes the wolf pack based algorithm (WPA) as a global optimization method. Multi-Sticking Crape Masking procedure scheduling problems in painting workshop of a bus manufacturing enterprise are of typical features of RHFS. We regard it as an application objective of the proposed algorithm, applying WPA and multiple evolutionary algorithms to solve the problems. The results show that the algorithm can solve re-entrant scheduling problems of hybrid flowshop more effectively compared with other conventional methods.

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Non-parametric modeling of double-link flexible robot manipulator based on NNARX model structure 19th

Non-parametric modeling of double-link flexible robot manipu...

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19th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2016

作者： Jamali, Annisa Mat Darus, Intan Zaurah Abdulhussain, Ali Tokhi, M.O. Automation and Control Laboratory Faculty of Mechanical Engineering Universiti Teknologi Malaysia SkudaiJohor81300 Malaysia Department of Automatic Control and System Engineering University of Sheffield United Kingdom

ISBN: (纸本)9789813149120

The double-link flexible robot manipulator (DLFR) is a highly non-linear system. The development of existing linear models involves a lot of assumptions and approximations in order to reduce the complex calculation. Due to that, this paper presents a non-linear Auto Regressive model with eXogenous inputs (NARX) for DLFR and neural network is used to predict the non-linear segment. Thus, NNARX structure is used to develop four separate model of double link flexible manipulator from torque input to hub angle and from torque input to end point accelerations of each link. The performance of NNARX models are validated via One Step Ahead, Mean Squared Error and correlation tests. © 2016, World Scientific Publishing Co. Pte Ltd. All rights reserved.

关键词： Flexible manipulators

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Testing of Method for Assessing of Room Thermal Stability 21

Testing of Method for Assessing of Room Thermal Stability

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21st International Conference on Circuits, Systems, Communications and Computers, CSCC 2017

作者： Charvátová, Hana Zálešák, Martin Tomas Bata University in Zlín Faculty of Applied Informatics Regional Research Centre CEBIA-Tech nám. T. G. Masaryka 5555 Zlín760 01 Czech Republic Tomas Bata University in Zlín Faculty of Applied Informatics Department of Automation and Control Engineering nám. T. G. Masaryka 5555 Zlín760 01 Czech Republic

The paper presents the interim results of our research on the developing methodological procedure which could be used for assessment of a thermal stability of buildings with regards to its thermal accumulative parameters. The principle of testing is based on a combination of computer simulation of cooled room model developed in COMSOL Multiphysics software and on theoretical calculations with respect to compliance with valid European and Czech technical standards used in building industry and architecture under conditions obtained by real measurement for the room to be tested. The presented example shows the effect of the heataccumulation properties of the outside wall insulation materials on the course of the cooling room for winter conditions. © The Authors, published by EDP Sciences, 2017.

关键词： Thermodynamic stability

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Estimation of battery SOC based on improved EKF algorithm

Estimation of battery SOC based on improved EKF algorithm

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2016 IEEE Information Technology,Networking,Electronic and automation control Conference(ITNEC 2016)

作者： Shi Gang Zhao Wei Han Zhonghua Liu Shanshan Laboratory of Industrial Control Network and System Shenyang Institute of Automation Faculty of Information and Control Engineering Shen yang Jian zhu University

ISBN: (纸本)9781467391955

This paper studies the estimation of the state of lithium battery(SOC), and develops an improved extended Kalman filter algorithm for this problem. To compensate deficiencies of the simple polynomial fitting, the neural network algorithm firstly is adopted to simulate the relation curve between the SOC and the parameters of circuit model, which is constructed based on Thevenin circuit. And then the state space equation among the battery's SOC and the voltage of the ends of the RC loop is established, also does the measurement equation which is based on the battery output voltage. In addition, extended Kalman is applied to estimate battery SOC. In the last, the effectiveness of the proposed method is verified using an experimental testing, and the results show that our method can estimate the SOC more accurately comparing with the standard extended Kalman algorithm.

关键词： EKF neural network battery SOC Thevenin circuit Li-ion battery

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An intelligent household greenhouse system design based on Internet of Things

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IOP Conference Series: Materials Science and engineering 2018年第1期399卷

作者： Z Han Z Wu S Lin F Luan Faculty of Informationand Control Engineering Shenyang Jianzhu University Shen yang 110168 China Department of Digital Factory Shenyang Institute of Automation the Chinese Academy of Sciences (CAS) Shenyang 110016 China

In order to combine indoor greenery conservation with Internet of Things Technologies, this paper designs an intelligent household greenhouse project with the features of comprehensive sensing, reliable transmission and intelligent processing. Through the analysis of functional requirements of the intelligent household greenhouse system, an intelligent household greenhouse system is designed with the functions of greenhouse environmental data detection, greenhouse environmental control regulation, data remote transmission and human-computer interaction. Its sensor layer collects environmental data in real time based onthe ZigBee wireless sensor network. The network layer STM32 intelligent gateway coordinates with network server, so as to exchange data from sensor layer to application layer, and solve the problems of non-blocking of data sending and receiving as well as concurrent requests of multiple mobile terminals. The application layer is designed into two types. One is a desktop management system as a data storage and analysis center, and the other is a mobile terminal APP. At the same time, we design a communication protocol that is applicable to the interaction of the three-layer structure of the Internet of Things, with the characteristics of simplicity, stability, readability, and scalability. It can avoid the mutual influence of multi-level data exchange and ensure the correctness of data circulation. In the design, the system sensor layer ensures stable transmission of various data and instructions, and the network layer has a high degree of concurrency and real time. And various measurement and control data of the sensor layer can interact with the data of mobile-terminal equipment of the application layer. What's more, the desktop management system and mobile terminal APP can monitor greenhouse data in real time and control various actuators in the greenhouse.

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Preface

Advances in Intelligent Systems and Computing

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Advances in Intelligent Systems and Computing 2018年 620卷 v-vi页

作者： Omatu, Sigeru Rodríguez, Sara Villarrubia, Gabriel Faria, Pedro Sitek, Pawel Prieto, Javier Faculty of Engineering Department of Electronics Information and Communication Engineering Osaka Institute of Technology OsakaOsaka Japan Faculty of Science Department of Computer Science and Automation Control University of Salamanca Salamanca Spain GECAD – Research Group on Intelligent Engineering and Computing for Advanced Innovation and Development Instituto Superior de Engenharia do Porto Porto Portugal Faculty of Electrical Engineering and Computer Science Department of Control and Management Systems Department of Information Systems Kielce University of Technology Kielce Poland

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Multi-view hybrid embedding: A divide-and-conquer approach

arXiv

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arXiv 2018年

作者： Xu, Jiamiao Yu, Shujian You, Xinge Leng, Mengjun Jing, Xiao-Yuan Chen, C. L. Philip School of Electronic Information and Communications Huazhong University of Science and Technology Wuhan430074 China Department of Electrical and Computer Engineering University of Florida GainesvilleFL32611 United States Department of Computer Science University of Houston HoustonTX77204 United States State Key Laboratory of Software Engineering School of Computer Wuhan University China Department of Computer and Information Science Faculty of Science and Technology University of Macau Macau99999 China Dalian Maritime University Dalian116026 China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100080 China

We present a novel cross-view classification algorithm where the gallery and probe data come from different views. A popular approach to tackle this problem is the multiview subspace learning (MvSL) that aims to learn a latent subspace shared by multi-view data. Despite promising results obtained on some applications, the performance of existing methods deteriorates dramatically when the multi-view data is sampled from nonlinear manifolds or suffers from heavy outliers. To circumvent this drawback, motivated by the Divideand-Conquer strategy, we propose Multi-view Hybrid Embedding (MvHE), a unique method of dividing the problem of cross-view classification into three subproblems and building one model for each subproblem. Specifically, the first model is designed to remove view discrepancy, whereas the second and third models attempt to discover the intrinsic nonlinear structure and to increase discriminability in intra-view and interview samples respectively. The kernel extension is conducted to further boost the representation power of MvHE. Extensive experiments are conducted on four benchmark datasets. Our methods demonstrate overwhelming advantages against the stateof-the-art MvSL based cross-view classification approaches in terms of classification accuracy and robustness. Copyright © 2018, The Authors. All rights reserved.

关键词： Embeddings

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Embedded linear model predictive control for 8-bit microcontrollers via convex lifting

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IFAC-PapersOnLine 2017年第1期50卷 10697-10704页

作者： Gulan M. Takács G. Anh Nguyen N. Olaru S. Rodriguez-Ayerbe P. Rohaľ-Ilkiv B. Institute of Automation Measurement and Applied Informatics Faculty of Mechanical Engineering Slovak University of Technology in Bratislava Námestie slobody 17 Bratislava 812 31 Slovakia Institute for Design and Control of Mechatronical Systems Johannes Kepler University Linz Altenberger Straße 69 Linz A-4040 Austria Laboratory of Signals and Systems CentraleSupélec-CNRS-Univeristé Paris Sud Univeristé Paris-Saclay 3 rue Joliot Curie Gif-sur-Yvette 911 90 France

This paper demonstrates an efficient approach for the implementation of parametric programming solutions to linear model predictive control problems. The emphasis is put namely on embedded hardware applications where feasible size and online evaluation of the controller code can be mission critical. As the explicit solutions are known to become quickly intractable for such a purpose once the amount of problem data grows, we exploit the concept of convex lifting of a given parameter space partition, and use it to avoid its storage and to replace the traditional point location with a significantly less costly procedure. In this light we practically illustrate the deployment of generated code on an 8-bit microcontroller unit, representing the class of low-cost embedded controllers built into mass-produced devices, in an active vibration suppression case study accompanied by a detailed performance, memory and timing analysis. © 2017

关键词： complexity reduction convex lifting explicit solution microcontroller real-time embedded predictive control

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Electromagnetic compatibility tests of a measuring system based on MFC piezoelectric transducers

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IOP Conference Series: Materials Science and engineering 2018年第2期400卷

作者： M Placzek M Mackowski Silesian University of Technology Faculty of Mechanical Engineering Institute of Engineering Processes Automation and Integrated Manufacturing Systems Konarskiego 18A 44-100 Gliwice Poland Silesian University of Technology Faculty of Automatic Control Electronics and Computer Science Institute of Informatics Akademicka 16 44-100 Gliwice Poland

This paper discusses the issue of dependability of a measuring system from the electromagnetic compatibility (EMC) point of view. During the tests, the equipment for conducting electromagnetic compatibility tests was used. The tests were carried out in accordance with the EMC Directive 2014/30/EU and the harmonized standard IEC 61000-4-6. The measuring system equipped with non-classical piezoelectric transducers called MFC was considered. The MFC transducer was used as a sensor connected to the NI 9191 CompactDAQ Chassis. During the research, the influence of conducted disturbances on the transmission wire was examined. One of the elements of the test bench was an EM-clamp (providing both inductive and capacitive coupling) consisting of a tube of split ferrite rings of two different grades, which can be clamped over the cable under test in a non-invasive way.

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