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Sliding Mode Tracking for Actuators Comprising Pneumatic Muscle and Torsion Spring

Sliding Mode Tracking for Actuators Comprising Pneumatic Mus...

引用

2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

作者： Kexin Xing Jian Huang Yongji Wang Jiping He Qi Xu Jun Wu Key Lab.of Image Processing and Intelligent Control Department of Control Science and TechnologyHuazhong University of Science and TechnologyWuhanChina

ISBN: (纸本)9781424447749;9781424447756

In this study, the sliding mode approach is applied to the tracking control problem of a planar arm manipulator system driven by a new type of actuator, which comprises a pneumatic muscle (PM) and a torsion spring. Unlike the traditional agonist/antagonist pneumatic muscle actuator, the PM is arranged in place of bicep and the torsion spring provides opposing torque in the presented actuator. The dynamic model is derived for this system and a sliding mode controller is designed to make the joint angle track a desired trajectory within a guaranteed accuracy even there are modeling uncertainties. A selection method is also proposed to obtain appropriate spring coefficient, which plays an important role in the tracking control task. The effectiveness of the proposed method is confirmed by simulations. The differences between the control results of using our new actuator and that of using the traditional pneumatic muscle actuator in opposing pair configuration are also compared.

关键词： Pneumatic muscle (PM) torsion spring sliding mode control rehabilitation robot

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Path planning using FMM with direction and curvature constrained

Path planning using FMM with direction and curvature constra...

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MIPPR 2009 - Remote Sensing and GIS Data processing and Other Applications: 6th International Symposium on Multispectral image processing and Pattern Recognition

作者： Li, Shidong Ding, Mingyue Cai, Chao Institute for Pattern Recognition and Artificial Intelligence National Lab. for Multi-spectral Information Processing Technologies Huazhong University of Science and Technology Wuhan 430074 China Hubei University for Nationalities Enshi Hubei 445000 China College of Life Science and Technology Image Processing and Intelligent Control Key Laboratory of Education Ministry of China Huazhong University of Science and Technology Wuhan 430074 China

ISBN: (纸本)9780819478092

It is difficult to meet both direction and curvature constraints for traditional Fast Marching (FM) method in path planning. Based on adjusting the cost function in Eiknoal equation-the control equation for FM, a new model for computing the integrated cost function was presented in this paper. A relationship formula about curvature radius was obtained and three kinds of adjusting strategies were given;two of them were used to modify the route to meet with the requires of turning constraint in this paper. Experiments showed that the improved model can be used to plan the path with FMM for agent such as unmanned aerial vehicle (UAV) or robot, which is limited to pass through the scene matching areas. And our preliminary experiments demonstrated that the strategies are feasible and efficient to obtain path with certain curvature radius. The model can also be used to represent the problem such as an aircraft flying in a flow field. © 2009 Copyright SPIE - The International Society for Optical Engineering.

关键词： Motion planning

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A novel path planning method based on path network

A novel path planning method based on path network

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MIPPR 2009 - Medical Imaging, Parallel processing of images, and Optimization Techniques: 6th International Symposium on Multispectral image processing and Pattern Recognition

ISBN: (纸本)9780819478085

Traditional path planning methods are too slow to meet the real-time requirement in practical applications. In order to solve this problem, an idea of path net was proposed in this paper. The path planning procedure is divided into two steps: network segment planning and segment assembling. The first step was done with Fast Marching Method, including port selection of segment and network segment planning. Second step, the A* searching method was chosen to select segments for assembling. Experiments demonstrated that our method can obtain an optimal route in a few of seconds after the start and goal are given while several minutes are needed for traditional methods. © 2009 Copyright SPIE - The International Society for Optical Engineering.

关键词： Motion planning

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Hybrid multiobjective estimation of distribution algorithm by local linear embedding and an immune inspired algorithm

Hybrid multiobjective estimation of distribution algorithm b...

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Congress on Evolutionary Computation

作者： Dongdong Yang Licheng Jiao Maoguo Gong Hongxiao Feng Key Laboratory of Intelligent Perception and Image Understanding of Ministry of Education of China Institute of Intelligent Information Processing Xidian University Xi'an China

A novel hybrid multiobjective estimation of distribution algorithm is proposed in this study. It combines an estimation of distribution algorithm based on local linear embedding and an immune inspired algorithm. Pareto set to the continuous multiobjective optimization problems, in the decision space, is a piecewise continuous (m-1)-dimensional manifold, where m is the number of objectives. By this regularity, a local linear embedding based manifold algorithm is introduced to build the distribution model of promising solutions. Besides, for enhancing local search ability of the EDA, an immune inspired sparse individual clone algorithm (SICA) is introduced and combined with the EDA. The novel hybrid multiobjective algorithm, named HMEDA, is proposed accordingly. Compared with three other state-of-the-art multiobjective algorithms, this hybrid algorithm achieves comparable results in terms of convergence and diversity. Besides, the tradeoff proportions of EDA to SICA in HMEDA are studied. Finally, the scalability to the number of decision variables of HMEDA is investigated too.

关键词： Electronic design automation and methodology Machine learning algorithms Probability distribution Evolutionary computation Cloning Hybrid power systems Genetic mutations Genetic algorithms Sampling methods Principal component analysis

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3D medical image compression based on multiplierless low-complexity RKLT and shape-adaptive wavelet transform

3D medical image compression based on multiplierless low-com...

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IEEE International Conference on image processing

作者： Lei Wang Jiaji Wu Licheng Jiao Guangming Shi Key Laboratory of Intelligent Perception and Image Understanding of Ministry of Education of China Institute of Intelligent Information Processing Xidian University Xi'an China

A multiplierless low complexity reversible integer Karhunen-Loe¿ve transform (Low-RKLT) is proposed based on matrix factorization. Conventional methods based on KLT suffer from high computational complexity and unability of applying in lossless medical image compression. To solve the two problems, multiplierless Low-RKLT is investigated using multi-lifting in this paper. Combined with ROI coding method, we have proposed a progressive lossy-to-lossless ROI compression method for three dimensional (3D) medical images with high performance. In our proposed method Low-RKLT is used for the inter-frame decorrelation after SA-DWT in the spatial domain. Simulation results show that, the proposed method performs much better in both lossless and lossy compression than 3D-DWT-based method.

关键词： Biomedical imaging image coding Wavelet transforms Medical diagnostic imaging Karhunen-Loeve transforms Decorrelation Computational intelligence Computational complexity Wavelet analysis Wavelet domain

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Feature Extraction Combining PCA and Immune Clonal Selection for Hyperspectral Remote Sensing image Classification

Feature Extraction Combining PCA and Immune Clonal Selection...

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International Conference on Artificial Intelligence and Computational Intelligence (AICI)

作者： Xiangrong Zhang Runxin Li Licheng Jiao Key Laboratory of Intelligent Perception and Image Understanding of Ministry of Education of China Institute of Intelligent Information Processing Xidian University Xi'an China

A new feature extraction method based on immune clonal selection (ICSA) and PCA is proposed for classification of hyperspectral remote sensing image. As the hyperspectral remote sensing image is acquired in very narrow spectral channels, the resulting high-dimensional feature sets may contain redundant information. Therefore, feature extraction is necessary to classify a data with large dimension such as the hyperspectral remote sensing image. PCA is popularly used for feature extraction. However, in traditional PCA, selecting the larger eigenvectors as principal components implies information loss. There is no systematic way to determine which principal components (PCs) should be used. A new feature-extraction model to select the optimal principal components using ICSA is developed. The data acquired by the NASA airborne AVIRIS instrument over the Kennedy Space Center, Florida is used for evaluation. Experimental results show that our method can get better results.

关键词： Feature extraction Diversity reception Principal component analysis Hyperspectral sensors Hyperspectral imaging Remote sensing image classification Personal communication networks NASA Instruments

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Medical image segmentation based on immune clonal optimization

Medical image segmentation based on immune clonal optimizati...

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IEEE International Conference on intelligent Computing and intelligent Systems (ICIS)

作者： Wenping Ma Licheng Jiao Ronghua Shang Fujia Zhao Key Laboratory of Intelligent Perception and Image Understanding of Ministry of Education of China Institute of Intelligent Information Processing Xidian University Xi'an China

ISBN: (纸本)9781424447374;9781424447541

Based on the clonal selection theory of artificial immune system, a novel optimal entropy threshold medical image segmentation method is proposed, in which, the affinity function is the optimal entropy threshold, and the medical image segmentation is considered as a optimization problem, clonal operator effectively enlarges searching range, supplies the diversity of solutions and can find the optimal threshold. This paper applies new algorithm to the challenging application: gray matter/white matter segmentation in MRI images, the algorithm is depicted in detail and the convergence is proven, the performance and computational complexity of the algorithm are described by quantitative analysis. Experiment results demonstrate the potential of the algorithm for medical image segmentation.

关键词： Biomedical imaging image segmentation Immune system Entropy Artificial immune systems Optimization methods Magnetic resonance imaging Computational complexity image analysis Performance analysis

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Design RF diplexer by directional immune clonal selection algorithm

Design RF diplexer by directional immune clonal selection al...

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IEEE International Conference on Systems, Man and Cybernetics

作者： Qiuyi Wu Licheng Jiao Yangyang Li Key Laboratory of Intelligent Perception and Image Understanding of Ministry of Education of China Institute of Intelligent Information Processing Xidian University Xi'an China

Based on the clonal selection theory of the immune system, a novel optimal algorithm, called a directional immune clonal selection algorithm (DICSA), is proposed to design RF diplexer. In DICSA, antibody is proliferated and divided into a set of subpopulation groups. In the antibody's updating, the clonal mutation is applied to avoid premature convergences. The clonal selection realizes the information communication between the subpopulation groups so as to improve the search efficiency. DICSA is applied to a practical problem, designing RF diplexer. The results show that DICSA has stable performance during the optimization process with a satisfactory result.

关键词： Algorithm design and analysis Radio frequency Filters Laboratories Information processing Design optimization Circuits Artificial intelligence Artificial immune systems Least squares methods

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Human Detection Based on Second Generation Bandelet Transform

Human Detection Based on Second Generation Bandelet Transfor...

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International Conference on Information Science and Engineering (ICISE)

作者： Hong Han Xing Wu Licheng Jiao Lichuan Yue Key Laboratory of Intelligent Perception and Image Understanding of Ministry of Education of China Institute of Intelligent Information Processing Xidian University Xi'an China

ISBN: (纸本)9781424449095

Base on geometric flow of images and the second generation bandelet transform, a new feature extraction method was proposed, and it was used to detect human in still images. In the paper, bandelet coefficients and their statistical values were extracted as the feature of human images, combined with Adaboost classifier to classify and detect human in images. In the proposed algorithm, some general statistical values of the bandelet coefficients were computed to enhance the classification capacity. The results of human detection experiments indicate that the proposed method can describe human characteristics and improve the performance of classifier effectively. It is very suitable for human detection in still images.

关键词： Humans Feature extraction Discrete wavelet transforms Neural networks Support vector machines Support vector machine classification image analysis Information science Laboratories Information processing

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Hybrid Immune Algorithm with intelligent recombination

Hybrid Immune Algorithm with intelligent recombination

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Congress on Evolutionary Computation

作者： Maoguo Gong Licheng Jiao Wenping Ma Ronghua Shang Key Laboratory of Intelligent Perception and Image Understanding of Ministry of Education of China Institute of Intelligent Information Processing Xidian University Xi'an China

In this study, we introduce a hybrid immune algorithm based on the intelligent recombination operator and clonal selection algorithm. The intelligent recombination operator uses orthogonal experimental design for factor analysis which identifies the potential gene segments from two individuals to improve their antigenic affinities. The new algorithm, termed as Hybrid Immune Algorithm with Recombination (HIAR), can avoid the decrease of gene diversity in evolutionary process. It evaluates the hamming distance before recombination and uses the two individuals which have the largest hamming distance between each other to implement intelligent recombination operator. It is shown empirically that HIAR has better performance in solving benchmark functions as compared with intelligent Evolutionary Algorithm and Clonal Selection Algorithm.

关键词： Immune system Competitive intelligence Design for experiments Hamming distance Computational intelligence Approximation algorithms Design optimization Algorithm design and analysis Evolutionary computation Protection

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