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Sensing environment with mobile robot by applying fuzzy-extended DSmT

Huazhong Keji Daxue Xuebao (Ziran Kexue Ban)/Journal of Huazhong University of Science and Technology (Natural Science Edition) 2008年第SUPPL. 1期36卷 113-115页

作者： Li, Xinde Huang, Xinhan Dai, Xianzhong Meng, Zhengda Key Laboratory of Image Processing and Intelligent Control Southeast University Nanjing 210096 China Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan 430074 China

Dezert-smarandache theory (DSmT) was extended with fuzzy theory by considering the different Fuzzy T-norm operators, in order to develop a more general and flexible combinational rule for more extensive application. At the same time, fuzzy-extended DSmT was applied to mobile robot's sensing environment with the help of new self-localization method based on δ neighboring field appearance matching and also the perception effect was compared with different T-norm operators. Finally, an effective approach to solv sensing fusion of uncertainty environment was found.

关键词： Mobile robots

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Development and Application of a Sliding Mode based Diagonal Recurrent Cerebellar Model Articulation controller

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IFAC Proceedings Volumes 2008年第2期41卷 5986-5991页

作者： Shan Liu Yongji Wang Qi Xu Huijuan Fang Department of Control Science and Engineering Key Laboratory of Image Processing and Intelligent Control Huazhong University of Science and Technology Wuhan 430074 China Tel: 86-27-87557284

This paper presents a sliding-mode-based diagonal recurrent cerebellar model articulation controller (SDRCMAC) for multiple-input-multiple-output (MIMO) uncertain nonlinear systems. Sliding mode technology is used to reduce the dimension of the control system. Two learning stages are adopted to train the SDRCMAC and to improve the stability of the control system. Lyapunov stability theorem and Barbalat's lemma are adopted to guarantee the asymptotical stability of the system. Performance is illustrated on a two-link robotic control and motor control of the human arm in the sagittal plane.

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Solving the 0-1 Planning Problem Based on Self-assembly of DNA Tiles

Solving the 0-1 Planning Problem Based on Self-assembly of D...

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3rd International Conference on Bio-Inspired Computing

作者： Huang, Yufang Cheng, Zhen Xu, Jin Huazhong Univ Sci & Technol Dept Control Sci & Engn Key Lab Image Proc & Intelligent Control Wuhan 430074 Hubei Peoples R China Peking Univ Sch Elect Engn & Comp Sci Beijing 100871 Peoples R China

ISBN: (纸本)9781424427246

DNA tile self-assembly has been proved to enable programmable manipulation of biological systems as a tool of molecular computation. It is mainly based on the property that is the spontaneous self-ordering of substructure into superstructure driven by annealing of Watson-Crick base-pairing D sequences. We take full advantage of the superiority of DNA tile self-assembly to construct a molecular computing system that implements a solution for the 0-1 planning problem. This algorithm can independently and simultaneously yield the data pool, containing all possible solutions when all basic operation tiles are designed beforehand. Then we can use some advanced bio-chemistry techniques to select the optimization solutions of the 0-1 planning problem. Our work has shown that it is possible to work with an exponential number of components to solve NP-complete problems. The method proposed here also can reduce the number of laboratory steps required for computation so that it can improve the computation speed.

关键词： Self assembly

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Algorithm for Elliptic Curve Diffie-Hellman key Exchange Based on DNA Tile Self-assembly

Algorithm for Elliptic Curve Diffie-Hellman Key Exchange Bas...

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3rd International Conference on Bio-Inspired Computing

作者： Cheng, Zhen Huang, Yufang Xu, Jin Huazhong Univ Sci & Technol Dept Control Sci & Engn Key Lab Image Proc & Intelligent Control Wuhan 430074 Hubei Peoples R China Peking Univ Sch Elect Engn & Comp Sci Beijing 100871 Peoples R China

ISBN: (纸本)9781424427246

DNA tile self-assembly is a promising paradigm for nanotechnology. Recently, many researches show that computation by DNA tile self-assembly maybe scalable. In this paper, we propose the algorithm for elliptic curve Diffie-Hellman key exchange based on DNA tile self-assembly. First we give the DNA tile self-assembly model to compute the scalar multiplication, then we can successfully implement the Diffie-Hellman key exchange over elliptic curve by extracting the result strand of the scalar multiplication.

关键词： Self assembly

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Automatic needle segmentation using 3D Gray-level Hough Transform in 3D ultrasound images

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Journal of Computational Information Systems 2008年第5期4卷 2021-2026页

作者： Qiu, Wu Ding, Mingyue Yuchi, Ming Image Processing and Intelligence Control Key Lab. of Education Ministry of China Institute of Pattern Recognition and Artificial Intelligence Huazhong University of Science and Technology Wuhan 430074 China Department of Biomedical Engineering School of Life Science and Technology Huazhong University of Science and Technology Wuhan 430074 China

This paper describes a novel 3D needle segmentation algorithm for 3DUS data. The algorithm includes the 3D Gray-level Hough Transform (3DGHT), which is based on the representation (ψ, θ, ρ, α) of straight lines in 3D space and Local Dimensionality Estimator (GST). Different from the traditional Hough transformation the process of binarization is not needed, because the proposed algorithm adopts the original gray level image directly. We tested it with the synthetic data and water phantom. The results show that our algorithm works well in 3D US images with angular deviation less than 1° and position deviation less than 1 mm. © 2008 Binary Information Press.

关键词： Hough transforms

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Dual-mode predictive control algorithm for constrained Hammerstein systems

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INTERNATIONAL JOURNAL OF control 2008年第10期81卷 1609-1625页

作者： Zhang, Hai-Tao Li, Han-Xiong Chen, Guanrong Huazhong Univ Sci & Technol Dept Control Sci & Engn Key Lab Image Proc & Intelligent Control Wuhan 430074 Peoples R China City Univ Hong Kong Dept Mfg Engn & Engn Management Kowloon Hong Kong Peoples R China City Univ Hong Kong Dept Elect Engn Kowloon Hong Kong Peoples R China

In the process industry, there exist many systems which can be approximated by a Hammerstein model. Moreover, these systems are usually subjected to input magnitude constraints. In this paper, a multi-channel identification algorithm (MCIA) is proposed, in which the coefficient parameters are identified by least squares estimation (LSE) together with a singular value decomposition (SVD) technique. Compared with traditional single-channel identification algorithms, the present method can enhance the approximation accuracy remarkably, and provide consistent estimates even in the presence of coloured output noises under relatively weak assumptions on the persistent excitation (PE) condition of the inputs. Then, to facilitate the following controller design, this MCIA is converted into a two stage single-channel identification algorithm (TS-SCIA), which preserves most of the advantages of MCIA. With this TS-SCIA as the inner model, a dual-mode non-linear model predictive control (NMPC) algorithm is developed. In detail, over a finite horizon, an optimal input profile found by solving a open-loop optimal control problem drives the non-linear system state into the terminal invariant set;afterwards a linear output-feedback controller steers the state to the origin asymptotically. In contrast to the traditional algorithms, the present method has a maximal stable region, a better steady-state performance and a lower computational complexity. Finally, simulation results on a heat exchanger are presented to show the efficiency of both the identification and the control algorithms.

关键词： Hammerstein systems singular value decomposition model predictive control

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The Depth Information Estimation of Microscope Defocus image Based-on Markov Random Field

The Depth Information Estimation of Microscope Defocus Image...

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IEEE Conference on Robotics, Automation and Mechatronics

作者： Xiangjin Zeng Xinhan Huang Min Wang Peng Li Department of Control Science and Engineering The Key Lab of Image processing and Intelligence control HUST Wuhan China

For depth information estimation of microscope defocus image, a blur parameter model of defocus image based on Markov random field has been present. It converts problem of depth estimation into optimization problem. An improved iterated conditional modes algorithm has been applied to complete optimization problem, which the select of initial point employed least squares estimate algorithm prevents that the result gets into local optimization. The experiments and simulations prove that the model and algorithm is efficiency.

关键词： Microscopy Markov random fields Charge coupled devices Charge-coupled image sensors Lenses Cameras image converters Least squares approximation Robot vision systems Orbital robotics

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Small universal spiking neural P systems with exhaustive use of rules

Small universal spiking neural P systems with exhaustive use...

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International Conference on Bio-Inspired Computing: Theories and Applications, BICTA

作者： Xingyi Zhang Yun Jiang Linqiang Pan Key Laboratory of Image Processing and Intelligent Control Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan Hubei China

We consider the problem of looking for small universal spiking neural P systems with exhaustive use of rules, which was formulated as an open problem by Gheorghe Paun in a survey paper. Here, spiking neural P systems are used in two versions: as devices computing functions and as devices generating sets of numbers, with two ways of encoding the result of a computation. As devices of computing functions, if we associate the result with the distance between the first two spikes emitted by the output neuron, we produce a universal computing spiking neural P system with exhaustive use of rules (without delay) having 125 neurons; if we introduce the usual way of defining the result of a computation in membrane systems to encode the result, namely, the number of spikes emitted during a computation, then a universal computing system (without delay) with 126 neurons is also obtained in the sense of the exhaustive use of rules. For spiking neural P systems used as generators of sets of numbers, we construct a universal system (without delay) by using 128 neurons under the first way of defining the computation result, and a system (without delay) by using 127 neurons under the second way of defining the computation result.

关键词： Neurons Registers Tin Delay Generators Distance measurement Biomembranes

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A Particle Filtering Algorithm for Tracking Moving Target under Clutter

A Particle Filtering Algorithm for Tracking Moving Target un...

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7th World Congress on intelligent control and Automation (WCICA 2008), vol.13

作者： Guocheng Liu Yongji Wang Chinese Education Ministry Key Laboratory for Image Processing & Intelligent Control Huazhong University of Science and Technology Wuhan China

On visual tracking, a particle filter algorithm was presented to track a moving target under clutter environment which can deal with rotation, scale changes, variations in the light source and partial occlusions. So it can track the target with robustness. The proposed method was based on particle filter, integrated with color histogram in the measurement model, and the system model was second order autoregressive process. The algorithm took into account the latest observations and the tracked target can be rigid or non-rigid. Also the method can run in real-time. The experimental results confirm that the method is effective even when the monocular camera is moving and the target object is partially occluded in a clutter background.

关键词： Particle filter Visual tracking Color histogram

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Co-scheduling model and algorithm of the three gorges-gezhou dam based on GA

Co-scheduling model and algorithm of the three gorges-gezhou...

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7th World Congress on intelligent control and Automation (WCICA 2008), vol.10

作者： Xiaoping Wang Huan Qi Henghui Xiao Xiaopan Zhang Key Laboratory of Image Processing and Intelligent Control Institute of Systems Engineering Huazhong University of Science and Technology Wuhan China

This paper provided a mathematic model for Three Gorges-Gezhou dam co-scheduling problems, based on full analysis of Three Gorges-Gezhou dam's actual needs, to maximize the total throughput of Three Gorges-Gezhou dam, to maximize the utilization ratio of shiplock area and minimize the total navigation shiplock waiting time under eight constraint conditions. Then a scheduling algorithm based on GA was pointed out. The three gorges south lock, Gezhou dam lock, the three gorges north lock were optimization searched separately in the GA algorithm. The scheduling results of the three gorges south lock were taken as the origin of the whole plan period, and also were taken as the basis of the Gezhou dam scheduling together with the ship applied information. The scheduling results of Gezhou dam were regarded as the basis of the three gorges north lock scheduling together with the ship applied information, so repeated, until the optimal scheduling results were given, or the most iterative step was reached. The applied result shows that making a period plan of two dam five lock only needs 2 minutes, and the plan is quite effective according to practical application.

关键词： Genetic algorithm The three gorges-gezhou dam Co-scheduling Mathematical model

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