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IFAC International Workshop on "Supplemental Ways for Improving International Stability", SWIIS 2010 - Proceedings

作者： Li, H. Jing, Y. Zhang, S. Ojleska, V. Kolemisevska, T. Dimirovski, G.M. Key Laboratory of Integrated Automation of Process Industry Northeastern University Ministry of Education Shenyang 110004 China School of Information Science and Engineering Northeastern University 110004 Shenyang China Institute of ASE School FEIT SS Cyril and Methodius University Karpos II BB MK-1000 Skopje Macedonia Computer Eng. and Control Eng. Departments Dogus University TR-34722 Istanbul Turkey

ISBN: (纸本)9783902661920

The multiobjective collaborative optimization (MCO) has been widely adopted in concurrent engineering design as a good multiobjective optimization approach provided the problem of optimization results converging often to a local extremum has been taken care of. It has been demonstrated to yield useful solutions to a wide range of optimization problems under concurrent condition both technical and non-technical ones. A solution strategy for MCO that overcomes this drawback is proposed here on the grounds of genetic NSGA-II algorithm. It is an adaptive heuristic search technique that controls the distances between the individual and system's feasible region during genetic evolution. In the evolving NSGA-II based non-dominated sorting, the individual threshold of infeasibility degree is reduced gradually via genetic evolution and the individual's feasibility capacity is determined by its infeasibility degree and the threshold. It has been applied to a benchmark example of speed reducer design, and the obtained results demonstrate the proposed technique is comparably more efficient and may offer substantial advantages over the gradient-based optimization methods. © 2010 IFAC.

关键词： Multiobjective optimization

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Friction feedforward compensation and position feedforward in CNC machines

Friction feedforward compensation and position feedforward i...

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7th Annual International Conference on Electrical Engineering/Electronics, computer, Telecommunications and Information Technology, ECTI-CON 2010

作者： Suteeratanapirom, Wijin Rattanawaorahirankul, Rapeepong Laosapan, Chutima Sanposh, Peerayot Chayopitak, Nattapon Tungpimolrut, Kanokvate Kunieda, Hiroaki TAIST Tokyo Tech ICTES Program Department of Electrical Engineering Kasetsart University 50 Phahonyothin Rd. Ladyao Jatujak Bangkok 10903 Thailand Intelligent Mechatronics Automation Robotics and Control Laboratory Department of Electrical Engineering Kasetsart University 50 Phahonyothin Rd. Ladyao Jatujak Bangkok 10903 Thailand Industrial Control and Automation Laboratory National Electronics and Computer Technology Center 112 Thailand Science Park Phahonyothin Rd. Klong 1 Klong Luang Pathumthani 12120 Thailand Department of Electrical and Electronic Engineering Tokyo Institute of Technology S3-65 2-12-1 Ookayama Meguro-ku Tokyo 152-8550 Japan

ISBN: (纸本)9789746724913

This research proposes a method to eliminate friction effect and reduced tracking error on CNC milling machines. A CNC milling machine has many connected mechanical components which have friction effects such as ball screws and rails. To control servo motors which are used to drive X-Y table in CNC milling machine, the conventional PID controller is widely used. In this research, Panasonic motor driver is set to the torque control mode. To compensate the friction effects, the friction feedforward compensation method is proposed. Moreover, to reduce the position tracking error, position feedforward controller is used. The simulation and implementation of position control in one axis of PID with Friction Feedforward Compensation and Position Feedforward controller (FFC-PFC) are presented.

关键词： Friction

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High performance vision tracking system for mobile robot using sensor data fusion with Kalman filter

High performance vision tracking system for mobile robot usi...

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2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Jaehong Park Wonsang Hwang Hyun-il Kwon Jong-hyeon Kim Chang-hun Lee M. Latif Anjum Kwang-soo Kim Dong-il Cho Automation and Systems Research Institute (ASRI) and School of Electrical Engineering and Computer Science Inter-University Semiconductor Research Center Seoul South Korea South Korea Department of Control and Instrumentation Engineering Hanbat National University Daejeon South Korea

This paper introduces a high performance vision tracking system for mobile robot using sensor data fusion. For mobile robots, it is difficult to collect continuous vision information due to robot's motion. To solve this problem, the proposed vision tracking system estimates the robot's position relative to a target and rotates the camera towards the target. This concept is derived from the human eye reflex mechanism, known as the Vestibulo-Ocular Reflex (VOR), for compensating the head motion. This concept for tracking the target results in much higher performance levels, when compared with the conventional method that rotates the camera using only vision information. The proposed system do not require heavy computing loads to process image data and can track the target continuously even during vision occlusion. The robot motion information is estimated using data from accelerometer, gyroscope, and encoders. This multi-sensor data fusion is achieved using Kalman filter. The proposed vision tracking system is implemented on a two-wheeled robot. The experimental results show that the proposed system achieves excellent tracking and recognition performance in various motion scenarios, including scenarios where camera is temporarily blocked from the target.

关键词： Robot sensing systems Target tracking Machine vision Kalman filters Cameras

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New enhancement of infrared image based on human visual system

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Chinese Optics Letters 2009年第3期7卷 206-209页

作者：于天河李秋明戴景民 Department of Automation Measurement and Control Engineering Harbin Institute of Technology Computer Center Harbin University of Science and Technology School of Astronautics Harbin Institute of Technology

Infrared images are firstly analyzed using the multifractal theory so that the singularity of each pixel can be extracted from the images. The multifractal spectrum is then estimated, which can reflect overall characteristic of an infrared image. Thus the edge and texture of an infrared image can be accurately extracted based on the singularity of each pixel and the multifractal spectrum. Finally the edge pixels are classified and enhanced in accordance with the sensitivity of human visual system to the edge profile of an infrared image. The experimental results obtained by this approach are compared with those obtained by other methods. It is found that the proposed approach can be used to highlight the edge area of an infrared image to make an infrared image more suitable for observation by human eyes.

关键词： Imaging systems Infrared imaging Infrared spectroscopy Pixels

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Improved Multidisciplinary Multiobjective Collaborative Optimization Technique Based on NSGA-II Algorithm 1

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IFAC Proceedings Volumes 2010年第25期43卷 139-144页

作者： H. Li Y. Jing S. Zhang V. Ojleska T. Kolemisevska G.M. Dimirovski Key Laboratory of Integrated Automation of Process Industry Ministry of Education Northeastern University Shenyang 110004 P.R. China Northeastern University School of Information Science & Engineering Shenyang 110004 P.R. China SS Cyril and Methodius University School FEIT Institute of ASE Karpos II BB MK-1000 Skopje R. Macedonia Dogus University Computer Eng. and Control Eng. Departments TR-34722 Istanbul Turkey

关键词： Collaborative optimization dynamic threshold genetic algorithms multidisciplinary optimization multiobjective optimization

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Digital watermarking Scheme based on chaotic encryption and DWT

Digital watermarking Scheme based on chaotic encryption and ...

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2009 International Conference on Information Engineering and computer science, ICIECS 2009

作者： Yin, Ke Wang, Zhi-Quan Liu, Chang Yin, Ke-Xin School of Automation Nanjing University of Science and Technology Nanjing 210094 China Electric Power Simulation and Control Engineering Center Nanjing Institute of Technology Nanjing 211167 China College of Computer Science and Engineering Changchun University of Technology 130012 China

ISBN: (纸本)9781424449941

A novel watermarking scheme based on chaotic encryption in DWT domain is proposed. The original image is transformed into some sub-band coefficients using discrete wavelet transformation, the logistic chaotic sequences is utilized to scramble the watermark before it is embedded. Taking into account the characteristics of human visual system (HVS), the watermark is embedded into the important sub-band coefficients. Because of the multi-resolution decomposition for DWT and meaningful HVS, the proposed scheme can achieve good robustness, the experimental results show that the watermark is robust against the cut attack, JPEG and et al. ©2009 IEEE.

关键词： Discrete wavelet transforms

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A robust dynamic watermarking scheme

A robust dynamic watermarking scheme

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2009 International Conference on Information Engineering and computer science, ICIECS 2009

作者： Yin, Ke Wang, Zhi-Quan Yin, Ke-Xin School of Automation in Nanjing University of Science Technology Nanjing 210094 China Electric Power Simulation and Control Engineering Center of Nanjing Institute of Technology Nanjing 211167 China College of Computer Science and Engineering Changchun University of Technology 130012 China

ISBN: (纸本)9781424449941

A new data structure dynamic watermarking scheme is proposed in this paper. Using Shamir threshold scheme and block encryption, the watermark is divided into several shares. Then these shares are embedded into the dynamic branch structure of program. Code obfuscation technique is applied during embedding. Our scheme provides watermarks with increased robustness, decreased visibility and higher cost performance ratio. ©2009 IEEE.

关键词： Data obfuscation

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Team AnnieWAY's autonomous system for the DARPA Urban Challenge 2007

Team AnnieWAY's autonomous system for the DARPA Urban Challe...

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作者： Kammel, Sören Ziegler, Julius Pitzer, Benjamin Werling, Moritz Gindele, Tobias Jagzent, Daniel Schöder, Joachim Thuy, Michael Goebl, Matthias Von Hundelshausen, Felix Pink, Oliver Frese, Christian Stiller, Christoph Institute for Measurement and Control University of Karlsruhe Karlsruhe 76131 Germany Institute for Applied Computer Science/Automation University of Karlsruhe Karlsruhe 76128 Germany Industrial Applications of Informatics and Microsystems University of Karlsruhe Karlsruhe 76131 Germany Institute for Distributed Measurement Systems Technical University of Munich Munich 80290 Germany Institute for Institute for Real-Time Computer Systems Technical University of Munich Munich 80290 Germany Department of Aerospace Engineering University of the Federal Armed Forces Neubiberg 85577 Germany

ISBN: (纸本)9783642039904

This paper reports on AnnieWAY, an autonomous vehicle that is capable of driving through urban scenarios and that has successfully entered the finals of the 2007 DARPA Urban Challenge competition. After describing the main challenges imposed and the major hardware components, we outline the underlying software structure and focus on selected algorithms. Environmental perception mainly relies on a recent laser scanner which delivers both range and reflectivity measurements. While range measurements are used to provide 3D scene geometry, measuring reflectivity allows for robust lane marker detection. Mission and maneuver planning is conducted using a concurrent hierarchical state machine that generates behavior in accordance with California traffic laws. We conclude with a report of the results achieved during the competition. © 2009 Springer-Verlag Berlin Heidelberg.

关键词： Reflection

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A Robust Dynamic Watermarking Scheme

A Robust Dynamic Watermarking Scheme

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International Conference on Information Engineering and computer science (ICIECS)

作者： Ke Yin Zhi-quan Wang Ke-xin Yin School of Automation Nanjing University of Science and Technology of PLA Nanjing China Electric Power Simulation and Control Engineering Center of Nanjing Institute of Technology Nanjing China School of Automation in Nanjing University of Science Technology Nanjing China College of computer science and engineering Changchun University of technology China

关键词： Robustness Watermarking Cryptography automation Intellectual property Topology Resists Resumes Computational modeling computer simulation

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Disturbance analysis and control for an omnidirectional wheeled mobile robot

Disturbance analysis and control for an omnidirectional whee...

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IEEE International Conference on Mechatronics and automation

作者： Yixu Song Dalong Tan Meng Miao Department of Computer Science and Technology University of Tsinghua Beijing China Shenyan Institute of Automation Chinese Academy and Sciences Shenyang Liaoning China Beijing AeroSpace Control Center Beijing China

The mobile robot with an orthogonal-wheel assembly has omnidirectional motion ability and simple kinematic model for controller design. However, two sliced spheres that switch upon movement are likely to cause disturbances that act on the wheeled motor robot (WMR)'s body. The purpose of the traditional control for a WMR is high joint control stiffness using odometry, which might worsen the trajectory tracking performance of the WMR with orthogonalwheel assemblies. This is because the robot's vibration might cause wheel slippage. Thus, the real-time motion states of the WMR body must be obtained to enable the robot controller to suppress such vibration. This paper provides a method with which to estimate the velocities of the WMR using inner sensors. In our proposed method, the real-time velocities of the WMR are estimated using accelerometers and position-measurement sensors. The fused signal is fed into the WMR controller instead of into the odometry feedback signal. The experimental results demonstrate that the proposed method is effective.

关键词： Mobile robots Robotic assembly Motion control Switches Robot sensing systems Kinematics Trajectory Wheels Robot control Vibration control

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