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23rd International Joint Conference on Artificial Intelligence, IJCAI 2013

作者： Wang, Jialei Hoi, Steven C.H. Zhao, Peilin Zhuang, Jinfeng Liu, Zhi-Yong School of Computer Engineering Nanyang Technological University Singapore Singapore Microsoft Corporation United States State Key Lab of Management and Control for Complex System Chinese Academy of Sciences China

ISBN: (纸本)9781577356332

In this work, we present a new framework for large scale online kernel classification, making kernel methods efficient and scalable for large-scale online learning tasks. Unlike the regular budget kernel online learning scheme that usually uses different strategies to bound the number of support vectors, our framework explores a functional approximation approach to approximating a kernel function/matrix in order to make the subsequent online learning task efficient and scalable. Specifically, we present two different online kernel machine learning algorithms: (i) the Fourier Online Gradient Descent (FOGD) algorithm that applies the random Fourier features for approximating kernel functions;and (ii) the Nyström Online Gradient Descent (NOGD) algorithm that applies the Nyström method to approximate large kernel matrices. We offer theoretical analysis of the proposed algorithms, and conduct experiments for large-scale online classification tasks with some data set of over 1 million instances. Our encouraging results validate the effectiveness and efficiency of the proposed algorithms, making them potentially more practical than the family of existing budget kernel online learning approaches.

关键词： Budget control

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Design and implementation of a non-contact magnetic field measurement based fault location system for overhead transmission line

Design and implementation of a non-contact magnetic field me...

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2013 IEEE International Conference on Smart Instrumentation, measurement and Applications, ICSIMA 2013

作者： Huang, Qi Yao, Ruoting Li, Fuchao Zhen, Wei Sichuan Provincial Key Lab of Power System Wide-area Measurement and Control School of Energy Science and Engineering UESTC Chengdu China Sichuan Electric Power Research Institute Chengdu China

ISBN: (纸本)9781479908431

As the rapid development MEMS (micro-electromechanical systems) packaging technology and magnetoresistance material technology, MR (magnetoresistive) sensors based on magnetoresistance effect which can carry out point measurement of magnetic field may change the measurement techniques in power systems. The currently available fault location of overhead transmission line approaches are mainly based on traveling-wave technique and impedance-based measurement technique. The novel approach based on non-contact measurement of magnetic field is advantageous over traditional approaches in that it is independent of the distributed line parameters and has a location error smaller than one span. In this paper, after a brief reviewing of the whole system architecture, design of a sensor prototype and the associated monitoring software are presented, and tests are performed to verify the functionalities of the designed system. The sensor is developed based on a 3-D AMR (anisotropic magnetoresistance) sensor and the software supports GIS interface, making the fault location intuitively clear and convenient. © 2013 IEEE.

关键词： Location

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ICP matching algorithm-based localization of indoor mobile robots

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Huazhong Keji Daxue Xuebao (Ziran Kexue Ban)/Journal of Huazhong University of Science and Technology (Natural Science Edition) 2013年第SUPPL.I期41卷 262-266页

作者： Gu, Wenhua Zhou, Bo Dai, Xianzhong Key Laboratory of Measurement and Control of Complex System Engineering of Ministry of Education School of Automation Southeast University Nanjing 210096 China

The localization of indoor mobile robots was studied. Point cloud data of surrounding environments were obtained by a two-dimensional laser range finder, and then three scan-matching algorithms, including Trimmed ICP (iterative closest point) algorithm, corner feature matching based HAYAI algorithm, as well as point-line matching based PLICP algorithm, were used respectively to estimate the relative displacement between two consecutive measurements to calibrate the localization result from odometer approaches. Better accuracy of long-range localization of indoor mobile robot could be achieved thereby. In the simulation, both the real-time property and accuracy of the mentioned three methods used were compared, showing the effectiveness and application field of the methods.

关键词： Mobile robots

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Human-like Manipulation Planning for Articulated Manipulator

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Journal of Bionic engineering 2012年第4期9卷 434-445页

作者： Yahui Gan Xianzhong Dai School of Automation Southeast UniversityNanjing 210096P.R.China Key Lab of Measurement and Control of Complex Systems of Engineering Ministry of EducationNanjing 210096P.R.China

A new method based on human-likeness assessment and optimization concept to solve the problem of human-like ma- nipulation planning for articulated robot is proposed in this paper. This method intrinsically formulates the problem as a con- strained optimization problem in robot configuration space. The robot configuration space is divided into different subregions by human likeness assessment. A widely used strategy, Rapid Upper Limb Assessment （RULA） in applied ergonomics, is adopted here to evaluate the human likeness of robot configuration. A task compatibility measurement of the robot velocity transmission ratio along a specified direction is used as the target function for the optimization problem. Simple illustrative examples of this method applied to a two Degree of Freedom （DOF） planar robot that resembles the upper limb of a human are presented. Further applications to a humanoid industrial robot SDA10D are also presented. The reasonable planning results for these applications assert the effectiveness of our method.

关键词： manipulation planning human likeness rapid upper limb assessment applied ergonomics task compatibilitymeasurement velocity transmission ratio

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The Adequacy Model and Analysis of Swapping Battery Requirement for Electric Vehicles

The Adequacy Model and Analysis of Swapping Battery Requirem...

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IEEE Power and Energy Society General Meeting

作者： Chang-Hua Zhang Jin-Song Meng Yong-Xing Cao Xin Cao Qi Huang Qing-Chang Zhong School of Energy Science and Technology of University of Electronic Science and Technology of China (UESTC) and Sichuan Provincial Key Lab of Power System Wide-area Measurement and Control of UESTC Chengdu Sichuan 611731 China. Since Oct. 2011 Changhu Sichuan Electric Power Research Institute No. 23 Qinghua Rd. Chengdu 610072 Sichuan China Department of Aeronautical and Automotive Engineering Loughborough University Leicestershire LE11 3TU UK

ISBN: (纸本)9781467327275

Compared with fossil fuel vehicles, plug-in hybrid electric vehicles (PHEVs) and electric vehicles (EVs) maintain obvious and profound significance for the less city pollutant and operation noise. Moreover, EVs can benefit operation of the power systems via friendly feeding back the energy stored in the EV batteries into the grids when needed. The related research about charging of batteries for EVs has been extensively developed, which is one of the main issues for the application of EVs. This paper focuses on the cooperation between the battery demand and the supply curve problems, when the charging of EV is operated in the swapping way. Firstly, the concept of the swapping battery requirement (SBR) adequacy is presented, and then the corresponding mathematical model is established and the algorithm based on the Monte Carlo method is proposed. In addition, some critical factors which have great influence on the SBR and reserved fully charged battery (RFCB) curves are demonstrated, such as EVs driving cycle, battery capacity, average energy-consuming level and charging time. Simulation results are presented to verify the proposed method.

关键词： Index Terms-- Adequacy Charging management Demand and supply Electrical Vehicle Monte Carlo method Plug-in Hybrid Electrical Vehicle Swapping battery requirement Vehicle-to-grid (V2G). Electric vehicles Batteries Swap charging Monte Carlo technique power systems SBR Mathematical Model ADEQUACY grids Analysis

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Robotic Etiquette:Socially Acceptable Navigation of Service Robots with Human Motion Pattern Learning and Prediction

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Journal of Bionic engineering 2010年第2期7卷 150-160页

作者： Kun Qian,Xudong Ma,Xianzhong Dai,Fang Fang key lab of measurement and control of complex systems of engineering (Ministry of Education,China), Southeast University,Nanjing 210096,P.R.China [a] Key Lab of Measurement Control of Complex Systems of Engineering (Ministry of Education China) Southeast University Nanjing 210096 P. R. China

Nonverbal and noncontact behaviors play a significant role in allowing service robots to structure their interactions *** this paper, a novel human-mimic mechanism of robot’s navigational skills was proposed for developing sociallyacceptable robotic *** on the sociological and physiological concerns of interpersonal interactions in movement,several criteria in navigation were represented by constraints and incorporated into a unified probabilistic cost grid for safemotion planning and control, followed by an emphasis on the prediction of the human’s movement for adjusting the robot’spre-collision navigational *** human motion prediction utilizes a clustering-based algorithm for modeling humans’indoor motion patterns as well as the combination of the long-term and short-term tendency prediction that takes into accountthe uncertainties of both velocity and heading *** simulation and real-world experiments verified the effectivenessand reliability of the method to ensure human’s safety and comfort in navigation.A statistical user trials study was also given tovalidate the users’favorable views of the human-friendly navigational behavior.

关键词： robotic etiquette navigation human motion prediction human-robot interaction service robot

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Hybrid genetic-ant colony algorithm based job scheduling method research of arc welding robot

Hybrid genetic-ant colony algorithm based job scheduling met...

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2010 IEEE International Conference on Information and Automation, ICIA 2010

作者： Meng, Zhengda Chen, Qinqi Key Lab. of Measurement and Control of Complex System of Engineering School of Automation Southeast University Nanjing China

ISBN: (纸本)9781424457021

Research of job scheduling methods of arc welding robot is focused in this paper. The job scheduling of arc welding robot is considered as a Traveling-salesman-Problem. Welding job scheduling is modeled and relevant job scheduling optimization methods are designed. Genetic algorithm and ant colony algorithm are applied to robot welding job scheduling first. Then, based on the characteristics of both algorithms, hybrid genetic ant colony algorithm is designed to improve optimization performance. With simulated weldment as the subject, genetic algorithm, ant colony algorithm and hybrid genetic ant colony algorithm are analyzed and compared by simulation. Validity of above methods is verified. ©2010 IEEE.

关键词： Genetic algorithms

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Stator flux oriented control with improved integrator for speed-sensorless induction motor drives

Stator flux oriented control with improved integrator for sp...

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2010 International Conference on E-Product E-Service and E-Entertainment, ICEEE2010

作者： Zhang, Hao Dai, Xianzhong Key Laboratory of Measurement and Control of Complex System of Engineering Ministry of Education Southeast University Nanjing China

ISBN: (纸本)9781424471614

This paper presents a speed-sensorless control algorithm for induction motors, based on the stator fluxoriented control. The algorithm has the advantage of insensitivity to rotor parameters and load varying, stator flux and rotor speed is closed loop controlled respectively. The main improvement is that stator flux is estimated based on a modified integrator which is developed to solve the problems associated with pure integrator. The performance of the proposed algorithm is verified using a dSPACE system with DS1103 controller board based on the digital signal processor (DSP) TMS320F240. The experimental results show the estimated speed is true of exactly actual speed and good behavior of the drive in both transient and steady state lowspeed operating conditions is proved. ©2010 IEEE.

关键词： Induction motors

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Supervisory and energy management system of large public buildings

Supervisory and energy management system of large public bui...

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International Conference on Mechatronics and Automation

作者： Ma, Xudong Cui, Ran Sun, Yu Peng, Changhai Wu, Zhishen Key Lab. of Measurement and Control of Complex Systems of Engineering School of Automation Southeast University Nanjing 210096 China International Institute for Urban Systems Engineering Southeast University Nanjing 210096 China

ISBN: (纸本)9781424451418

Buildings are important contributors to energy consumption accounting for around one-third of energy consumed in cities, where large public buildings are the dominant energy consumers and energy consumption might be significantly decreased through Building Energy Management systems (BEMS). A supervisory and management system for energy conservation in large public buildings is presented in this paper, with a PC or a embedded computer system running a BEMS software designed to connected to distributed energy metering system, wireless sensor networks, even conventional building automation (BA) systems. The supervisory and management software consists of information inquiry, energy consumption metering, energy efficiency analysis and decision support subsystems. The system framework is introduced with development and application of the software described in detail. © 2010 IEEE.

关键词： Energy utilization

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Hybrid genetic-ant colony algorithm based job scheduling method research of arc welding robot

Hybrid genetic-ant colony algorithm based job scheduling met...

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International Conference on Information and Automation (ICIA)

作者： Zhengda Meng Qinqi Chen Key Lab of Measurement and Control of Complex System of Engineering Ministry of Education School of Automation South-East University Nanjing China

ISBN: (纸本)9781424457014

关键词： Scheduling algorithm Welding Robots Genetic algorithms Algorithm design and analysis Analytical models Optimization methods Design methodology Job design Ant colony optimization

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