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2011 IEEE 5th International Conference on Robotics, Automation and Mechatronics, RAM 2011

作者： Kun, Gong Fang, Deng Tao, Ma Beijing 100083 China School of Automation Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Beijing 100081 China

ISBN: (纸本)9781612842509

In order to improve the precision of the azimuth measured by mobile robot's electronic compass, this paper proposes a new calibration method based on Fourier Neural Network trained by Modified Particle Swarm Optimization (MPSO-FNN). This method makes use of Fourier Neural Network (FNN) to establish the error compensation model of electronic compass's azimuth, and introduces Modified Particle Swarm Optimization (MPSO) algorithm to optimize the weights of neural network. Thus the comparatively accurate error model of azimuth is obtained to compensate the output of electronic compass. This method not only has strong nonlinear approximation capability, but also overcomes the neural networks' shortcomings which are too slow convergence speed, oscillation, and easy to fall into local optimum and sensitive to the initial values. Experimental results demonstrate that after calibrated by this method, the range of azimuth error reduces to -0.35°-0.70deg;from -3.4°-25.2°, and the average value of absolute error is only 0.30°. © 2011 IEEE.

关键词： Error compensation

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A multi-target tracking approach combined with occlusion segmentation

A multi-target tracking approach combined with occlusion seg...

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4th International Workshop on Advanced Computational Intelligence, IWACI 2011

作者： Ding, Huan Zhang, Wensheng State Key Laboratory of Intelligent Control and Management of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781612843735

Multiple-target tracking in complex scenes is one of the most complicated problems in computer vision. Handling the occlusion between objects is the key issue in multiple target tracking. This paper presents an occlusion segmentation-based method to track multiple people in complex situations which are captured by static monocular cameras. In the proposed method, we calculate the probabilistic histogram of each object's optical flow vector, then use this motion statistic information along with the color and appearance information to construct a new expression of pixel distance. Finally, a stepwise classification and K-means clustering method are taken advantages of to accomplish occlusion segmentation. Object tracking is handled by a particle filter-based tracking framework, and a probabilistic appearance model is used to find the best particle. Experiments are conducted using public challenging data set PETS 2009. Results show that our approach can improve the performance of the existing tracking approach and handle dynamic occlusions better. © 2011 IEEE.

关键词： Clutter (information theory)

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Computational experiments GPU-based for longterm safety operation of chemical industry

Computational experiments GPU-based for longterm safety oper...

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2011 IEEE International Conference on Service Operations, Logistics and Informatics, SOLI 2011

作者： Lang, Xiaochao Guo, Dalei State Key Laboratory of Intelligent Control and Management of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781457705731

Chemical industry is complex and continuous process industry, and the control and management of the long-term safe operation involves a great deal of information and data on the staffs, management, equipment and technology. Consequently, making real-time assessment for the control and management by computational experiment is important for the long-term of safety operation of chemical industry. As the requirement for high-performance computing in large-scale complex systems, traditional CPU computing can not meet the needs of large-scale computing. Because of the high speed and rapid development features, GPU was widely applied to scientific computation, which is suitable for large-scale intensive computation. This paper carried on specific computation experiments using GPU parallel computing, and designed and analyzed matrix inversion, fuzzy logic computation and Monte Carlo computation respectively for staff management and equipment simulation. Finally, compared to CPU serial computing, the maximum speedup ratio, 34, 85 and 39 times of speedup ratio are achieved. © 2011 IEEE.

关键词： Fuzzy logic

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A performance appraisal method based on ACP theory and PageRank algorithm

A performance appraisal method based on ACP theory and PageR...

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2011 IEEE International Conference on Service Operations, Logistics and Informatics, SOLI 2011

作者： Shen, Xiaowei Liu, Xiwei Fan, Dong Cheng, Changjian Xiong, Gang State Key Laboratory of Intelligent Control and Management of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781457705731

It is important for a chemical plant to find a suitable performance appraisal method. In this paper, based on the ACP (artificial system, computational experiment, and parallel execution) theory and the PageRank algorithm, a new performance appraisal method is proposed. The proposed method comprehensively involves both peoples and routine management rules from the holistic viewpoint. By comparison with the traditional performance appraisal method, the proposed method is more reasonable, more flexible and robuster. © 2011 IEEE.

关键词： Chemical plants

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ACP theory based plant human machine interaction evaluation

ACP theory based plant human machine interaction evaluation

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2011 IEEE International Conference on Service Operations, Logistics and Informatics, SOLI 2011

作者： Liu, Xiwei Shen, Xiaowei Fan, Dong State Key Laboratory of Intelligent Control and Management of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781457705731

It's an important need for a large chemical plant to roundly and deeply evaluate the design prototype of plant human machine interaction (HMI) using in the control room. To meet this need, we propose an evaluation method based on the ACP (Artificial system, Computational experiment, and Parallel execution) theory. A plant operator agent is created in the method and it is composed of perception, cognition, and execution processors, short-term memory, and long-term memory. The operator agent is used as a virtual subject, and the HMI can be evaluated by behavior simulation, from the viewpoints of shortening fault detection and isolation (FDI) track and decreasing operator's physical and mental workloads. The proposed method shows that the ACP theory is useful for the HMI evaluation. © 2011 IEEE.

关键词： Chemical plants

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Research on bus rapid transit (BRT) and its real-time scheduling

Research on bus rapid transit (BRT) and its real-time schedu...

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2011 IEEE International Conference on Service Operations, Logistics and Informatics, SOLI 2011

作者： Dong, Xisong Xiong, Gang Fan, Dong Zhu, Fenghua Lv, Yisheng State Key Laboratory of Intelligent Control and Management of Complex Systems Institute of Automation Chinese Academy of Science Beijing China

ISBN: (纸本)9781457705731

With the fast development of the economy, the urban traffic demands increases rapidly, Bus rapid transit (BRT) system, a new type and high efficient bus operator system and a comprehensive mass transit system between the metro and regular bus systems, can alleviate traffic congestion, reduce resident traffic cost effectively, and improve transportation quality and efficiency, with its advantages becomes an effective way to improve urban traffic status. In this article, the definition, major elements, advantages, functions and development of BRT are provided, and a new real-time scheduling is given which is going to be applied to the Zhongshan Avenue BRT system in Guangzhou China. © 2011 IEEE.

关键词： Traffic congestion

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New method for recognition of circular traffic sign based on radial symmetry and pseudo-zernike moments

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Journal of Beijing Institute of Technology (English Edition) 2011年第4期20卷 520-526页

作者： Fu, Meng-Yin Huang, Yuan-Shui Ma, Hong-Bin Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing 100081 China

Recognizing various traffic signs, especially the popular circular traffic signs, is an essential task for implementing advanced driver assistance system. To recognize circular traffic signs with high accuracy and robustness, a novel approach which uses the so-called improved constrained binary fast radial symmetry (ICBFRS) detector and pseudo-zernike moments based support vector machine (PZM-SVM) classifier is proposed. In the detection stage, the scene image containing the traffic signs will be converted into Lab color space for color segmentation. Then the ICBFRS detector can efficiently capture the position and scale of sign candidates within the scene by detecting the centers of circles. In the classification stage, once the candidates are cropped out of the image, pseudo-zernike moments are adopted to represent the features of extracted pictogram, which are then fed into a support vector machine to classify different traffic signs. Experimental results under different lighting conditions indicate that the proposed method has robust detection effect and high classification accuracy. © Copyright.

关键词： Support vector machines

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Medical image segmentation using mean shift algorithm and general edge detection

Medical image segmentation using mean shift algorithm and ge...

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作者： Lu, Jinghua Chen, Jie Zhang, Juan Zou, Lihui School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing 100081 China

ISBN: (纸本)9783902661937

The segmentation of the medical image faces the challenges of the existence of large number of diverse structures of human anatomy and inevitable artifacts induced from the imaging procedure. In this paper we treat some structures and artifacts as general edge features, and introduce the edge information into the mean shift segmentation algorithm in both clustering and the fusion steps. Considering the medical images as two dimensional signals, the general edge can be detected and described with its local spatial frequency properties. The segmentation results show the improvement in preserving the completeness of details while sketching the overall structures. © 2011 IFAC.

关键词： Image segmentation

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A vision system with multiple cameras designed for humanoid robots to play table tennis

A vision system with multiple cameras designed for humanoid ...

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2011 7th IEEE International Conference on Automation Science and Engineering, CASE 2011

作者： Yang, Ping Xu, De Zhang, Zhengtao Chen, Guodong Tan, Min State Key Laboratory of Intelligent Control and Management of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China

ISBN: (纸本)9781457717307

Two humanoid robots are used to play table tennis with each other. For each humanoid robot, three cameras and a computer are equipped to form a stereovision system and a monocular vision system. The stereovision system consisting of two smart cameras and a computer measures the 3-dimensional position of the table tennis ball. It adopts parallel processing mode in order to realize hundred frames level measurement per second. A high-speed digital camera and the computer compose the monocular vision system, which measures the pose of the robot relative to the table via a color mark attached on the robot. The two smart cameras in each stereovision system are synchronized via I/O signals. The vision systems for the two robots are synchronized by time verification. Experimental results verify the effectiveness of the designed vision system and the proposed methods. © 2011 IEEE.

关键词： Anthropomorphic robots

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Recognizing vehicle-contours with a compositional deformable model

Recognizing vehicle-contours with a compositional deformable...

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IEEE International Conference on Vehicular Electronics and Safety

作者： Yuan, Gu Wang, Fei-Yue State Key Laboratory of Intelligent Control and Management Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China

ISBN: (纸本)9781457705762

This paper illustrates a compositional deformable model for detecting vehicle and recognizing vehicle-contours. To overcome the difficulties that vehicles in an image have various sizes, shapes, colors and poses, this model has two main characteristics: first, the model is made up of constituent parts which shared by vehicles. The locality of parts give the model the ability to recognize vehicles with different types (e.g., although vehicles have various sizes and shapes, they are usually composed by roof, windscreen, windows, etc.). Second, the spatial relationships of these parts are represented by Markov Random Field (MRF). The model is deformable to adapt to vehicles of different shapes and poses because of the appropriately changing of combinations of these parts in the MRF. Experimental results with real world images show that this method is effective in vehicle detection and vehicle-contours recognition. © 2011 IEEE.

关键词： Vehicles

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