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Object recognition using polar Zernike moments for micromanipulation

Journal of Computational Information Systems 2012年第13期8卷 5303-5310页

作者： Liu, Chang Huang, Xinhan Wang, Min Peng, Gang Key Laboratory of Image Processing and Intelligent Control of Ministry of Education of China Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan 430074 China

Multi micro parts recognition is one of the important tasks for the assembly of multi micro objects in micromanipulation. Zernike moments have been widely used as invariant features in many image analysis and pattern recognition problems because of their superiority compared to other moments. However, they suffer from high computation cost and inherent error. This study proposes a polar coordinate based algorithm for the computation of Zernike moments, which improves the invariance properties dramatically. Due to the symmetry property of the Zernike basis functions, Zernike moments can be obtained by computing only one octant of the Zernike basis functions, which means that the number of pixels involved in the computation of Zernike moments is only 12.5% of previous method. This leads to significant reduction in the computational complexity requirements. A comparison with other conventional method is performed in detail. To achieve multi micro parts recognition with higher performance, we present a support vector machine algorithm, which employs polar Zernike moments based on edge extraction to obtain feature attribute to identify and classify the targets. The obtained results show the superiority of the proposed method. © 2011 by Binary Information Press.

关键词： Object recognition

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An Approach with Nested Partition for Resource-Constrained Project Scheduling Problem

An Approach with Nested Partition for Resource-Constrained P...

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2012 IEEE 19th International Conference on Industrial Engineering and Engineering Management(IE&EM 2012)

作者： Zhen-yuan Liu Wen-min Yu Institute of Systems Engineering Huazhong University of Science and Technology Key Laboratory of Education Ministry for Image Processing and Intelligent Control

A time-based nested partition （NP） approach is proposed to solve resource-constrained project scheduling problem （RCPSP） in this paper. In iteration, one activity is selected as the base point of which the finish time interval calculated by CPM is divided into two parts to form two subregions on the basis of the promising region of the last iteration. Then sampling is taken in both subregions and the surrounding region to determine the promising region and aggregate the other as the surrounding region of this iteration so that whether the backtracking or the moving operation being performed is determined. Double justification is also performed in iteration to improve the results. The results of numerical tests on PSPLIB show the effectiveness and time-efficient of the proposed NP method.

关键词： Double justification nested partition RCPSP sampling

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A NOVEL VISUAL SERVOING MICROASSEMBLY SYSTEM

A NOVEL VISUAL SERVOING MICROASSEMBLY SYSTEM

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2012 IEEE 2nd International Conference on Cloud Computing and Intelligence Systems

作者： Xinhan Huang Shangqin Mao Min Wang The Key Laboratory of Image Processing and Intelligent Control of Ministry of Education of China Department of Control Science and EngineeringHuazhong University of Science and Technology

The focus of this paper is the design and development of an automatic system for microassembly. The automatic processing is made possible by (i) the development of a machine vision algorithm to identify the targets and end-effectors, (ii) an uncalibrated visual servoing algorithm to lead the end-effector to grasp the micro-pieces and then assemble the target. The experimental results demonstrate that this prototype microassembly system is effective and practicable for automatic microassembly applications.

关键词： microassembly target recognition visual servoing

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Parallel Generate Entry Landing Footprint Using Differential Evolution

Parallel Generate Entry Landing Footprint Using Differential...

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International Symposium on Computer, Consumer and control (IS3C)

作者： Songtao Chang Yongji Wang Lei Liu Department of Control Science and Engineering Key Laboratory of Ministry of Education for Image Processing and Intelligent Control Huazhong University of Science and Technology Wuhan China

Landing footprint of an entry vehicle provides critical information for mission planning. Conventional methods calculate it through solving a family of multi-constraints optimal control problems. It is difficult to solve. To generate the boundary of it, we proposed a new scheme based on differential evolution(DE). Utilizing DE's parallelism, each run generates one side instead of one point of the boundary. To get the full boundary, just need run the algorithm two times. The algorithm's merits include accurate, fast, not relying on simplification of the system, all control variables are under consideration and facilitating parallel programming.

关键词： Vehicles Vehicle dynamics Optimal control Vectors Trajectory Optimization Heuristic algorithms

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Extended state observer based non-iteration predicted entry guidance

Extended state observer based non-iteration predicted entry ...

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International Conference on Modelling, Identification and control (ICMIC)

作者： Songtao Chang Mao Su Da Zhang Yongji Wang Department of Control Science and Engineering Key Laboratory of Ministry of Education for Image Processing and Intelligent Control Huazhong University of Science and Technology Wuhan China

It is difficult to guide the entry vehicle to prescribed area due to the disperse of environment and kinematics. Through predicted residual range at the current state based on drag acceleration, we developed a predictor-corrector guidance law which doesn't need iteration to figure out the reference trajectory. Then using extended state observer based controller to track the reference trajectory. We use several missions(under various disperse conditions) to test the guidance law. Simulation results demonstrated that the guidance law is able to achieve the prescribed terminal conditions under various perturbations in the aerodynamic coefficients, the density of the atmosphere and the mass of the vehicle.

关键词： Acceleration Trajectory Vehicles Observers Vehicle dynamics Planning Earth

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Active Disturbance Rejection Guidance for Ascent Using Quadratic Transition

Active Disturbance Rejection Guidance for Ascent Using Quadr...

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International Symposium on Computer, Consumer and control (IS3C)

作者： Xuefang Lu Yongji Wang Key Laboratory of Ministry of Education for Image Processing and Intelligent Control Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan China

This paper presents an active disturbance rejection guidance method using quadratic transition for the atmospheric ascent guidance problem. The quadratic transition is designed from the current flight states with a reference trajectory planned off-board. For any states error, the solution of the designed quadratic transition converges to the reference trajectory. The guidance command is obtained from the derivative of the designed quadratic transition. For the unknown modeling error, the guidance command is compensated using the estimated disturbances from the extended state observer. Computer simulation for GHV (Generic Hypersonic Air Vehicle) model, which includes initial states error and modeling error, shows great accuracy and effectiveness of this guidance method.

关键词： Trajectory Atmospheric modeling Computational modeling Aerodynamics Vehicles Observers Accuracy

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An application of circumscribed circle filter in the multi-stencils fast marching method 12

An application of circumscribed circle filter in the multi-s...

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27th Annual ACM Symposium on Applied Computing, SAC 2012

作者： Liu, Hong Hung, Chih-Cheng Hu, Huaifei Yu, Mali Song, Enmin School of Computer Science Huazhong University of Science and Technology Wuhan China Key Laboratory of Education Ministry for Image Processing and Intelligent Control Wuhan Hubei 430074 China School of Computing and Software Engineering Southern Polytechnic State University Marietta GA 30060 United States

ISBN: (纸本)9781450308571

We develop an effective method for improving the segmentation result based on the Multi-Stencils Fast Marching method (MSFM). In MSFM, the gradient information of the image plays a vital role for calculating edges. It is straightforward to obtain the edge of good quality images;however, MSFM may not have robust edge maps available for images with spurious edges. Thus, a special multi-direction circumscribed circle filter is proposed to calculate the image gradient information which is then used in the MSFM. Using the new gradient information, better image contours can be obtained with MSFM. The size of the radius used in our circle filter is constant even the standard deviation of zero-mean Gaussian noise changes while the parameters of mean filter and Canny filter for gradient computation have to be correctly selected according to different noisy images. Our proposed method shows that it is effective through the experiments of image segmentation. © 2012 ACM.

关键词： image segmentation

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Textural fabric defect detection using adaptive quantized Gray-level Co-occurrence Matrix and Support Vector Description Data

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Information Technology Journal 2012年第6期11卷 673-685页

作者： Bi, Mingde Sun, Zhigang Li, Yesong Key Laboratory of Ministry of Education for Image Processing and Intelligent Control Department of Control Science and Engineering Huazhong University of Science and Technology 1037 Luoyu Road Hubei 430074 Wuhan China

A new defect detection algorithm base on Support Vector Data Description (SVDD) is proposed. A fabric texture model is built on the gray-level histogram of textural fabric image. Two Gray-level Co-occurrence Matrix (GLCM) features are used to characterize the fabric texture. And an adaptive quantization scheme base on the texture mode is proposed to reduce the size of GLCM and reduce the computational complexity of feature extraction. Besides, twonew features are proposed to characterize the continuous property of the fabric defects. The SVDD classifier is used as a detector for defect detection. Experimental results of real fabric defects are provided to validate the effectiveness and robustness of the proposed detection algorithm. And a prototyped detection system is built to evaluate the real-time performance of the detection algorithm. © 2012 Asian Network for Scientific Information.

关键词： Data description

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Adaptive flocking of multi-agent systems with locally Lipschitz nonlinearity

Adaptive flocking of multi-agent systems with locally Lipsch...

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31st Chinese control Conference, CCC 2012

作者： Ningzi, Zhang Housheng, Su Chen, Michael Z. Q. Xiaofan, Wang Department of Control Science and Engineering Image Processing and Intelligent Control Key Laboratory of Education Ministry of China Huazhong University of Science and Technology Wuhan 430074 China Department of Mechanical Engineering University of Hong Kong Hong Kong Hong Kong Department of Automation Shanghai Jiao Tong University Shanghai 200240 China

ISBN: (纸本)9789881563811

This paper investigates adaptive flocking of multi-agent systems (MASs) with a virtual leader. All agents and the virtual leader share the same intrinsic nonlinear dynamics, which satisfies a locally Lipschitz condition and depends on both position and velocity information of the agent itself. Under the assumption that the initial network is connected, an approach to preserving the connectivity of the network is proposed. Based on the Lyapunov stability theory, an adaptive flocking control law is derived to make the MASs track the virtual leader without collision. Finally, a numerical example is presented to illustrate the effectiveness of the theoretical results. © 2012 Chinese Assoc of Automati.

关键词： Multi agent systems

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Displacement prediction model of landslide based on ensemble of extreme learning machine

Displacement prediction model of landslide based on ensemble...

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19th International Conference on Neural Information processing, ICONIP 2012

作者： Lian, Cheng Zeng, Zhigang Yao, Wei Tang, Huiming Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan Hubei China Key Laboratory of Image Processing and Intelligent Control of Education Ministry of China Wuhan Hubei China School of Computer Science South-Central University for Nationalities Wuhan Hubei China Faculty of Engineering China University of Geosciences Wuhan Hubei China

ISBN: (纸本)9783642344770

Based on time series analysis, total accumulative displacement of landslide is divided into the trend component displacement and the periodic component displacement according to the response relation between dynamic changes of landslide displacement and inducing factors. In this paper, a novel neural network technique called the ensemble of extreme learning machine (E-ELM) is proposed to investigate the interactions of different inducing factors affecting the evolution of landslide. Trend component displacement and periodic component displacement are forecasted respectively, then total predictive displacement is obtained by adding the calculated predictive displacement value of each sub. A case study of Baishuihe landslide in the Three Gorges reservoir area is presented to illustrate the capability and merit of our model. © 2012 Springer-Verlag.

关键词： Landslides

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