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An improved heuristic algorithm for UAV path planning in 3D environment

An improved heuristic algorithm for UAV path planning in 3D ...

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International Conference on intelligent Human-Machine systems and Cybernetics

作者： Qi, Zhang Shao, Zhenhai Ping, Yeo Swee Hiot, Lim Meng Leong, Yew Kong School of Communication Engineering University of Electronic Science and Technology of China China Microwave Research Lab. National University of Singapore Singapore Intelligent Systems Center Nanyang Technological University Singapore Singapore Technology Singapore

ISBN: (纸本)9780769541518

Path planning problem is one of core contents of UAV technology. This paper presents an improved heuristic algorithm to solve 3D path planning problem. In this study the path planning model is built based on digital map firstly, and then the virtual terrain is introduced to eliminate a significant amount of search space, from 3-Dimensions to 2-Dimensions. Subsequently the improved heuristic A* algorithm is applied to generate UAV trajectory. The algorithm is featured with various searching steps and weighting factor for each cost component. The simulation results have been done to validate the effectiveness of this algorithm. © 2010 IEEE.

关键词： Motion planning

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Fault diagnosis of transformer using association rule mining and knowledge base

Fault diagnosis of transformer using association rule mining...

引用

2010 10th International Conference on intelligent systems Design and Applications, ISDA'10

作者： Zhang, Tiefeng Zhang, Guangquan Lu, Jie School of Electric and Electronic Engineering North China Electric Power University Baoding China Lab. Faculty of Engineering and Information Technology Centre for Quantum Computation and Intelligent Systems P.O. Box 123 Broadway NSW 2007 Australia

ISBN: (纸本)9781424481354

Association rule mining makes interesting associations and/or correlations among large sets of data. Those associations can be refined as decision rules to be used and stored in a knowledge base system. In this paper, an approach based on association rule and knowledge base is proposed and implemented in the fault diagnosis of a transformer system. According to the features of association rule, the Apriori algorithm is adopted and modified to generate decision rules from power transformer information for building knowledge base, then the rules can be refined to diagnose the fault of the transformer through reasoning, and a prototype system is developed. This approach based on association rule is described in detail and the application is illustrated by an example. A comparison with the IEC (International Electrotechnical Commission) three-ratio method shows the proposed method can provide better accuracy in performance. © 2010 IEEE.

关键词： Power transformers

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A novel multiuser detector based on immune clone selection algorithm

A novel multiuser detector based on immune clone selection a...

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2010 2nd Pacific-Asia Conference on Circuits, Communications and System, PACCS 2010

作者： Wang, Yonggang Feng, Zhuren Jiao, Licheng State Key Laboratory for Manufacturing Systems Engineering Xi'an Jiaotong University 710049 China System Engineer Institute Xi'an Jiaotong University 710049 China Lab. of Intelligent Information Processing Xidian University Xi'an 710071 China

ISBN: (纸本)9781424479689

Immune clone selection algorithm (ICSA) and the multi-user detection based on ICSA are studied. Similar to evolutionary algorithms, ICSA is an efficient tool in searching for the global optimum based on the representation of solutions as binary code. It shows better potential capability to solve the optimization problem than evolution algorithm. Two novel multi-user detectors are presented which are basic ICSA multi-user detector and hybrid ICSA multi-user detector with multi-stage detector (ICSA-MSD-MUD). For ICSA-MSD-MUD, the MSD is considered as an operator inside the ICSA algorithm. The hybrid detector can reach excellent performance by utilizing ICSA to implement global search and by utilizing MSD to implement local search. The results of simulation show the feasibility and validity of the presented multi-user detectors. © 2010 IEEE.

关键词： Multiuser detection

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A fuzzy matching based recommendation approach for mobile products/services

A fuzzy matching based recommendation approach for mobile pr...

引用

2010 10th International Conference on intelligent systems Design and Applications, ISDA'10

作者： Wu, Dianshuang Lu, Jie Zhang, Guangquan Lin, Hua School of Automation Northwestern Polytechnical University Xi'an Shaanxi 710072 China Lab. Faculty of Engineering and Information Technology Centre for Quantum Computation and Intelligent Systems P.O. Box 123 Broadway NSW 2007 Australia

ISBN: (纸本)9781424481354

Due to the huge product assortments and complex descriptions of mobile products/services, it is a great challenge for new customers to select appropriate products. To solve this issue, a fuzzy matching based recommendation approach for mobile products/services is proposed in this paper. In this approach, a new customer's requirements are obtained through asking a set of questions and represented by linguistic terms. When modeling the characteristics of mobile products/services, both their attributes and related users' usage records are considered. A fuzzy matching approach is applied to find the products that are most matched to the customer's requirements. A framework of the recommender system for mobile products/services applying the proposed approach is developed. © 2010 IEEE.

关键词： Sales

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Second ACM international workshop on multimedia in forensics, security and intelligence (MiFor 2010)

Second ACM international workshop on multimedia in forensics...

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作者： Battiato, Sebastiano Emmanuel, Sabu Ulges, Adrian Worring, Marcel Image Processing Lab. University of Catania Viale Andrea Doria 6 95125 Catania Italy School of Computer Engineering Nanyang Technological University 639 798 Singapore Singapore Trippstadter Str. 122 D-67663 Kaiserslautern Germany Intelligent Systems Lab. Amsterdam University of Amsterdam Science Park 107 1098 XG Amsterdam Netherlands

This paper introduces the context of the workshop and the associated papers.

ISBN: (纸本)9781605589336

This paper introduces the context of the workshop and the associated papers.

关键词： Computer vision

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Adaptive and impulsive cluster synchronization of a general complex dynamical network

Adaptive and impulsive cluster synchronization of a general ...

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2010 International Conference on Networking, Sensing and control, ICNSC 2010

作者： Shi, Bingxiong Lu, Junan Lü, Jinhu Yu, Xinghuo College of Mathematics and Statistics State Key Lab. of Software Engineering Wuhan University Wuhan 430072 China Key Laboratory of Systems and Control Institute of Systems Science Chinese Academy of Sciences Beijing 100190 China School of Electrical and Computer Engineering RMIT University Melbourne 3000 Australia School of Electrical and Computer Engineering RMIT University Melbourne VIC 3001 Australia

ISBN: (纸本)9781424464531

Recently, cluster synchronization has attracted an increasing interest in various disciplines, includingmathematics, physics, and engineering sciences. This paper further investigates the cluster synchronization of a complex dynamical network by using adaptive and impulsive control techniques, respectively. Based on a complex dynamical network with two different clusters, several adaptive and impulsive cluster synchronization criteria are then proposed. It should be especially pointed out that the dynamics and its dimensions of the individual dynamical systems are different in the two different clusters. Also, some numerical simulations are given to verify the effectiveness of the above theoretical results. ©2010 IEEE.

关键词： Dynamical systems

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Embedded artificial gestures: Modulating behavioral coupling in human-machine interaction via motion modification

Embedded artificial gestures: Modulating behavioral coupling...

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IEEE International Conference on Robotics and Biomimetics

作者： De Guzman, Gonzalo C. Mistry, Ravi Tognoli, Emmanuelle Kelso, J. A. Scott Human Brain and Behavior Lab. Center for Complex Systems and Brain Sciences Florida Atlantic University Boca Raton FL 33138 United States Computer Science and Engineering Florida Atlantic University Boca Raton FL 33138 United States Intelligent Systems Research Centre University of Ulster Derry United Kingdom

ISBN: (纸本)9781424493173

With the accelerating advances in technology the need to understand human-machine interactions for the purpose of enhancing cooperative activities has become an important theoretical and empirical problem. This study uses Virtual Partner Interaction (VPI) to examine how behavioral coupling between humans and humanoid robots can be modulated through the use of embedded micro gestures or small parametric noise. VPI is a behavioral dynamic clamp constructed from established principles of live two-people interaction during performance of a coordination task. The gestures are akin to "motioning" behaviors and are in the form of parametric noise applied to either the damping or the restoring term of the oscillator dynamics of the virtual partner. To increase the probability of correctly detecting and measuring the individual performances (VP vs. subject), a conflicting task is used: subjects coordinate their rhythmic movements with the VP inphase while the VP is programmed to coordinate nominally only in antiphase. Preliminary results show that that the probability of human subjects switching to the VP's preferred pattern (anti-phase) are enhanced by parametric perturbations on either the damping or the restoring term of the VP oscillator as compared to when no perturbation is applied. The results have implication on how one may enhance human-humanoid robot coordination during performance of cooperative tasks. © 2010 IEEE.

关键词： Damping

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Active leader tracking control of multi-agent systems with quantized measurements

Active leader tracking control of multi-agent systems with q...

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作者： Hu, Jiangping Hong, Yiguang Feng, Gang School of Automation Engineering University of Electronic Science and Technology of China Chengdu 610054 China Key Lab. of Systems and Control Institute of Systems Science Chinese Academy of Sciences Beijing 100190 China Department of MEEM University of Hong Kong Kowloon Hong Kong

ISBN: (纸本)9787894631046

This paper discusses tracking control problem with a discrete-time multi-agent system with active leader and quantized communication constraints. For the active leader in a general linear form, we give a distributed design for each discrete-time agent in the leader tracking control problem and analyze the tracking convergence with the help of Riccati equation and common Lyapunov function when the communication channel is perfect. Then a stochastic quantization strategy is applied to model the information transmission in the agent coordination and the corresponding solution is also given, even if the interconnection topology is switching.

关键词： Time varying networks

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Ferro-resonance over-voltage and power frequency over-voltage on the neutrals of 220kV power transformer and corresponding protection strategy

Ferro-resonance over-voltage and power frequency over-voltag...

引用

作者： Yu, Hua-Peng Chen, Shui-Ming Yu, Hong-Qiao Yang, Peng-Cheng Yin, Hua Wu, Gaolin State Key Lab. of Control and Simulation of Power Systems and Generation Equipments Dept. of Electrical Engineering Tsinghua University Haidian District Beijing 100084 China Chongqing Electric Power Research Institute Chongqing 401123 China

ISBN: (纸本)9781457700668

In order to limit short-circuit current and satisfy the need of relay setting, only part of the 220kV power transformer is grounded, so on the neutrals of ungrounded transformers will appear the over-voltage. Currently the value of over-voltage on transformer neutral point and the corresponding protection strategy is based on theoretical formula, this article use the PSCAD/EMTDC software to calculate the over-voltage on the neutral point of 4 ungrounded power transformers in Chongqing 220kV power grid, the result shows that the power frequency transient over-voltage on the neutrals may reach 178kV, If the single-phase grounding fault occurs in ungrounded power system, the power frequency over-voltage on the neutrals will be more serious and rise to 138.6kV. Non-full phase operation may cause serious ferro-resonance over-voltage on the neutrals of no-load transformer, which may last for seconds and may rise to 723.7kV, causing serious threat to the transformer neutrals and line-side equipment. The article also studies the gap parameter which should be taken on the neutrals of 220kV transformers at the end. © 2010 Chinese Soc for Elec Eng.

关键词： Power transformers

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Optimal supply location selection and routing for emergency material delivery with uncertain demands

Optimal supply location selection and routing for emergency ...

引用

2010 International Conference on Information, Networking and Automation, ICINA 2010

作者： Han, Yunjun Guan, Xiaohong Shi, Leyuan Center for Intelligent and Networked Systems Tsinghua University Beijing 100084 China Marine Development Center of China Beijing 100161 China SKLMS Lab. Xian Jiaotong University Xi'an 710049 China Department of Industrial Engineering University of Wisconsin-Madison Madison WI 53706 United States

ISBN: (纸本)9781424481057

The supply location selection and routing (SLSR) problem integrates warehouse selection, and fleet routing and scheduling to optimize the supply chain and guarantee timely material delivery for disaster areas. Demand uncertainties are the inherent nature of the emergency material supply. In this paper, the SLSR problem is studied in considering uncertain demand and formulated as a probabilistic constrained integer programming (PCIP) model. The uncertainty is measured by the joint demand satisfactory level of disaster areas. The PCIP problem is intractable in general for its nonlinear and nonconvex property introduced by the probabilistic constraints and integer variables. With the introduction of p-efficient points an equivalent deterministic integer programming model is derived. A two-level solution scheme is developed to address the challenge of unknown and possibly a large number of p-efficient points simultaneously with high computational complexity. Numerical testing results show that the new method is efficient, and can be applied to solve large scale stochastic SLSR problem. © 2010 IEEE.

关键词： Supply chains

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