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Energy Efficient Data Collection in Hierarchical Wireless Sensor Networks

China Communications 2012年第9期9卷 79-88页

作者： Zhang Chun Fei Shumin Zhou Xingpeng School of Automation Southeast UniversityNanjing 210096P.R.China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of EducationSoutheast UniversityNanjing 210096P.R.China

The majority of the energy consumption by the sensors is the energy requirement for data transmission in Wireless Sensor Networks （WSNs）. Therefore, introducing mobile collectors to collect data instead of nmlti-hop data relay is essential. However, for rmny proposed data gathering ap-proaches, long data deNNy is the train problenm. Hence, the problem of how to decrease the energy consumption and the data deNNy needs to be solved. In this paper, a low deNNy data collection mechanism using multiple mobile collectors is pro- posed. First, a self-organization clustering algorithm is designed. Second, sensor nodes are organized into three-level clusters. Then a collection strategy based on the hierarchical structure is proposed, which includes two rules to dispatch mobile collec- tors rationally. Simulation results show that the proposed mechanism is superior to other existing approaches in terms of the reduction in energy ex-penditure and the decrease in data deNNy.

关键词： WSNs energy consumption rrmltiplemobile collectors data delay

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Teleoperation of humanoid motion using 3G communication network

Teleoperation of humanoid motion using 3G communication netw...

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IEEE International Conference on Robotics and Biomimetics

作者： Qian Xu Qiang Huang Xuechao Chen Awais Yasin Zhangguo Yu Key Laboratory of Intelligent Control and Decision of Complex System School of Mechatronical Engineering Beijing Institute of Technology Beijing China

ISBN: (纸本)9781467321259

A small humanoid robot with a teleoperation system using 3G communication network is present in this paper. Considering the requirement of dynamic environment and hardware limitations of small humanoid, the teleoperation system was designed using 3G communication network, which has a good performance both on the long-distance operation and the communication speed. Then an improved walking planning method is explored on this robot. Most of conventional walking planning methods can not fit to the low computation performance of small humanoid nor the real-time teleoperation requirement. In order to solve this problem, an online walking planning method with has been presented in this paper. There are two primary advantages compared with conventional walking planning methods. First, the new online walking planning can realize walking based on real-time tasks due to its short control period. Secondly, the reduced computation and walking data can fit to the hardware limit of the small humanoid. The effectiveness of the proposed walking planning method was confirmed by experiments.

关键词： Small Humanoid Teleoperation 3G Network Walking Planning remote operation 3G communication walking Humanoid control period Humanoid robots

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Research of online detection system for glass defect based on support vector machine

Research of online detection system for glass defect based o...

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第四届国际自动化测试与仪器仪表学术会议

作者： Zhao Lianyi Xu Baojie Tong Liang Beijing Key Laboratory Measurement and Control of Mechanical and Electrical System School of Mechanical and Electrical EngineeringBeijing Information Science and Technology University

In view of the current domestic glass production enterprise which is lack of method to detect glass stones,cracks and other important defects,an online detection system for glass defect based on support vector machine is proposed in the *** paper is based on the research of image processing,feature extraction and pattern *** using of object-oriented Visual c + + 6.0 programming tools,and combined with OpenCV computer vision library,this system can realize glass defect on-line detection and *** successful rate for the defect inspection of the system can reach over 95%.

关键词： glass defect support vector machine online detection OpenCV

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A literature review of deadlock prevention policy based on petri nets for automated manufacturing systems

International Journal of Digital Content Technology and its ...

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International Journal of Digital Content Technology and its Applications 2012年第21期6卷 426-433页

作者： Guan, Xuanxuan Li, Yue Xu, Jianxia Wang, Chengying Wang, Shouguang School of Information and Electronic Engineering Zhejiang Gongshang University Hangzhou 310018 China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University Nanjing 210096 China

Deadlock is an undesired situation in a highly automated system due to the fact that no system can allow its occurrence which may produce some unnecessary economic losses or serious consequences. There are three mathematical tools to handle deadlocks in resource allocation systems: graph theory, finite state machine, and Petri net. Due to its inherent characteristics, Petri nets are widely applied to manufacturing systems. Generally, these existing deadlock methods are classified into three strategies: deadlock detection and recovery, deadlock avoidance, and deadlock prevention. In this paper, a review of deadlock prevention policies and merits and drawbacks of these policies are presented. Then it gives the possible trend of the research in the future.

关键词： Petri nets

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Research on the ground control system of quadrotor unmanned aerial vehicles

Research on the ground control system of quadrotor unmanned ...

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World Congress on Intelligent control and Automation (WCICA)

作者： Tingting Zhao Bin Xian Yungao Yang Fang Guo Guoping Huang The Institute of Robotics and Autonomous System the Tianjin Key Laboratory of Process Measurement and Control School of Electrical Engineering and Automation Tianjin University 300072 China

The quadrotor unmanned aerial vehicle (UAV) has been a focus for unmanned aerial vehicles. Ground control system (GCS) is an important part of the quadrotor UAV flight control system, and it can promote the flight performance and safety of quadrotor UAVs. In this paper, a quadrotor UAV GCS is designed and implemented, and the GCS realizes the following functions, including receiving and storing of the flight data, the real-time localization utilizing the customization of electronic maps like MapX and Google Earth, the visual display of flight states via virtual instruments and the waypoint planning. Outdoor experiments have been done to verify the GCS's performance. It can be concluded that the proposed GCS in this paper can work stably, and it can guarantee the integrity of the flight data, the accuracy of the instruments display and map localization.

关键词： Google Earth Sockets Unmanned aerial vehicles XML HTML Automation

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Image mosaicing algorithm for dynamic scenes using multi-scaled PHOG feature and optimal seam

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Moshi Shibie yu Rengong Zhineng/Pattern Recognition and Artificial Intelligence 2012年第4期25卷 624-631页

作者： Zou, Li-Hui Chen, Jie Zhang, Juan Lu, Jing-Hua Key Laboratory of Complex System Intelligent Control and Decision of Ministry of Education School of Automation Beijing Institute of Technology Beijing 100081 China School of Computer and Communication Engineering University of Science and Technology Beijing Beijing 100083 China

Aiming at the problems of registration error and synthetic movement ghost which are caused by moving objects in image mosaicing, a mosaicing algorithm for dynamic scene using multi-scale pyramid histogram of oriented gradients (PHOG) and optimal seam is proposed. Firstly, a new feature, multi-scaled PHOG, is generated by introducing PHOG to multi-scale space corner detections. The feature is used to align images for avoiding the local impact caused by moving objects in image registration. Then, an optimal seam, guaranteeing the minimum difference in geometry and gray value, is searched by graph cut algorithm through constructing an energy function to remove the movement ghost. The experimental results show that the proposed algorithm is efficient in dealing with the problems of image mosaicing with moving objects, and the mosaicing results are satisfactory with high precision.

关键词： Graphic methods

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Data acquisition and processing of the onboard sensor system of a quadrotor unmanned aerial vehicle

Data acquisition and processing of the onboard sensor system...

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World Congress on Intelligent control and Automation (WCICA)

作者： Fang Guo Bin Xian Haotao Li Guoping Huang Tingting Zhao The Institute of Robotics and Autonomous System the Tianjin Key Laboratory of Process Measurement and Control School of Electrical Engineering and Automation Tianjin University Tianjin 300072 China

In recent years, quadrotor helicopter has become a hotspot of the research about unmanned aerial vehicles (UAVs). The data acquisition of the vehicle's attitude and position in real time is important to achieve autonomous flight control for quadrotor UAVs. In this paper, an ARM embedded system is employed as the main controller, and an attitude heading reference system (AHRS) is utilized as the main onboard sensor. By using C++ programming under Linux operation system, the data acquisition and processing of the AHRS is implemented, and then the attitude and position data of the quadrotor UAV are obtained in real time to provide reliable flight state information for the autonomous flight control. The on-board flight data is sent to ground control system and stored via a communication module based on the UDP network protocol.

关键词： Linux Global Positioning system Data acquisition Process control Attitude control Servers Automation

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A novel HHT and nonlinear teager energy operator based feature for speech emotion recognition

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International Review on Computers and Software 2012年第6期7卷 3360-3364页

作者： Zhang, Guobao Li, Yue Huang, Yongming School of Automation Southeast University Nanjing Jiangsu 210096 China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing China School of Automation Southeast University Nanjing Jiangsu 210096 China

In traditional speech emotion recognition researches, speech is modeled as linear and short-term stationary signal, with Fourier analysis used as the foundation of speech signal processing and feature extraction. To overcome this shortage, in this paper the Hilbert-Huang transform, which works well for non-stationary and nonlinear data, is used for speech signal processing, and combined with the nonlinear Teager energy operator to put forward a novel spectral feature: Hilbert-Teager Subband Energy Cepstral Coefficients, HT-SECC. With Gaussian mixture model used for classification, the experimental results on Berlin emotional speech corpus show that the HT-SECC feature outperforms traditional Mel-Frequency Cepstral Coefficients and prosodic features. © 2012 Praise Worthy Prize S.r.l. - All rights reserved.

关键词： Hilbert-Huang transform

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Robust stability analysis for uncertain neutral control systems with time-varying delays

Jiefangjun Ligong Daxue Xuebao/Journal of PLA University of ...

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Jiefangjun Ligong Daxue Xuebao/Journal of PLA University of Science and Technology (Natural Science Edition) 2012年第1期13卷 12-16页

作者： Zhang, Hai-Tao Wang, Ting Fei, Shu-Min Li, Tao Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University Nanjing 210096 China Engineering Institute of Corps of Engineers PLA Univ. of Sci. and Tech. Nanjing 210007 China School of Automation Engineering Nanjing University of Aeronautics and Astronautics Nanjing 210016 China

To better handle the problem on robust stability for neutral control systems, in which time-varying delay was involved, a stability criterion with less conservatism was put forward. Firstly, a novel Lyapunov-Krasovskii functional was constructed based on the uncertain neutral control system model. The generalized convex combination and integral inequality techniques were altogether employed, which can help to estimate the derivative of Lyapunov-Krasovskii functional and effectively extend the application area of the results. Secondly, by taking the lower and upper bounds of time-delays and their derivatives, a criterion on asymptotical and robust stability were presented in terms of linear matrix inequality (LMI), which can be easily checked by resorting to LMI in Matlab Toolbox. Finally, through one numerical example the criterion was compared with relative ones. The smaller delay upper bound was obtained by the criteria, which demonstrates that our stability criterion can reduce the conservatism more efficiently than those earlier ones.

关键词： Linear matrix inequalities

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An overview of agent-based evacuation models for building fires

An overview of agent-based evacuation models for building fi...

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IEEE International Conference on Networking, Sensing and control

作者： Yuling Hu Xiwei Liu Feiyue Wang Changjian Cheng Beijing Key Laboratory of Automatic Control System School of Automation Beijing Institute of Technology. and School of Electric and Information Engineering Beijing University of Civil Engineering and Architecture China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences China

Agent-based evacuation modeling approach is gained more and more attention for investigating human cognitive capabilities and social behaviors in building fires. This paper mainly overviews the research about various agent-based evacuation models. For the decision-making reflects the intelligence of agent individual, we define three types of behavior decision-making models for agent individual based on the collected literatures and sum up the characteristics of each type. Aiming at crowd' important influence on evacuation processes, we also sum up two types of agent-based crowd modeling approaches to simulate crowd evacuation processes and give corresponding cases. Finally, after summing up the existing problems, the outlooks of the research from computational experiments point of view is proposed.

关键词： Computational modeling Fires Biological system modeling Buildings Decision making Humans Adaptation models

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