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2013 International Conference on Communication Technology (ICCT 2013)

作者： Jiaman Ding Yi Du Qingxin Wang Ying Jiang Yunnan Provincial Key Laboratory of Computer Technology Application Faculty of Information Engineering and AutomationKunming University of Science and Technology City College Kunming University of Science and Technology

In order to solve the efficiency problem about the data-intensive query join in cloud computing environment, a Shrink-Semis Join for Cloud Computing(SSJFCC) method for data-intensive was proposed. This paper firstly analyzed and compared the bottlenecks of existing query join algorithm in the cloud computing environment. Secondly, aiming to shrink semi-results data from join process, five algorithms of SSJFCC method were designed. Finally, the improvement method had been implemented based on Hadoop framework. Experiments show that this method significantly reduced the network transmission data quantity and join computing time-consuming, and improved the data-intensive query efficiency.

关键词： data-intensive cloud computing query join map reduce

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An open-source development and simulation platform for smart wheelchairs

An open-source development and simulation platform for smart...

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6th International Conference on Intelligent Robotics and Applications, ICIRA 2013

作者： Liao, Wenlong Chen, Weidong Wei, Zhixuan Zhang, Wenxi Wang, Jingchuan Li, Kang Department of Automation and Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Jiao Tong University Shanghai 200240 China Harbin 150001 China Electrical Engineering and Computer Science Queen's University Belfast Belfast BT9 5AH United Kingdom

ISBN: (纸本)9783642408519

Simulator for smart wheelchairs is of great significance for both driver training and algorithm design. A development and simulation platform for wheelchairs is presented in this paper. On this platform, simulations of kinematics, dynamics and sensors are integrated, and a virtual prototype of wheelchair and virtual world are modled also. The sensors include encoders, a laser range finder and a set of Kinect. This platform is implemented in Gazebo and ROS, and is completely open source and freely available. Experiments verifies that this platform can be used as a valid tool for driver training and algorithm design. © 2013 Springer-Verlag Berlin Heidelberg.

关键词： Virtual reality

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An improved parameterized approach for real time optimal motion planning of AUV moving in dynamic environment

An improved parameterized approach for real time optimal mot...

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IEEE Conference on Robotics, automation and Mechatronics

作者： Wenhao Luo Jun Peng Jing Wang Department of Automation Key Laboratory of System Control And Information Processing Shanghai China School of Information Science and Engineering Hunan Engineering Laboratory Changsha China Computer Engineering Program Bethune-Cookman University Daytona Beach FL USA

In this paper, we present an improved analytic method to the optimal trajectory generation of an autonomous underwater vehicle (AUV) in a dynamic environment. The proposed approach explicitly incorporates both the AUV kinematic and the geometric constraints due to dynamic obstacles and the terrain while rendering the near-shortest path by a performance index related to the path length. In particular, the proposed design is based on a family of parameterized trajectories determined by three adjustable parameters, which provides a unified way to reformulate the geometric constraints and performance index into a set of parameterized constraint equations. To that end, such a constrained optimization problem boils down to optimize those adjustable parameters, which can be analytically solved in the parameter space. The proposed solution enhances the methodologies of real-time path planning for robots in 3D environment. Simulation results verify the effectiveness of the proposed method.

关键词： Trajectory Planning Vehicle dynamics Dynamics Collision avoidance Kinematics Optimization

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Human interest oriented heterogeneous multi-robot exploration under connectivity constraints

Human interest oriented heterogeneous multi-robot exploratio...

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IEEE International Conference on Robotics and Biomimetics

作者： Han Zhang Weidong Chen Jingchuan Wang Kang Li Department of Automation Key Laboratory of System Control and Information Processing Shanghai Electronics and Electrical Engineering and Computer Science Queen's University Belfast Belfast UK

ISBN: (纸本)9781479927456

Human interest input could greatly enhance the efficiency of the multi-robot exploration. However, most of the previous work did not take the intention of the operator into account. In this paper, a human interest oriented multi-robot exploration system is designed. The system is composed of a mobile base station and several robot explorers. A human interest oriented task allocation method is developed to enable these robot explorers to coordinate based on the operator's intention. Furthermore, an optimization index is proposed to balance the obedience, connectivity and explorability of the system; and the optimization problem is solved to generate the movements of the mobile base station and the robot explorers. Simulations and real-world experiments have demonstrate the effectiveness of the system and the efficiency of the exploration process.

关键词： Robot kinematics Base stations Optimization Resource management Equations Mobile communication

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Gain-scheduling Distributed MPC for Polytopic Uncertain Systems subject to Actuator Saturation

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IFAC Proceedings Volumes 2013年第13期46卷 444-449页

作者： Langwen Zhang Jingcheng Wang Kang Li Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240 School of Electronics Electrical Engineering and Computer Science Queen's University Belfast UK

In this paper, we present a gain-scheduling distributed model predictive control (MPC) algorithm for polytopic uncertain systems subject to actuator saturation. A large-scale system is decomposed into subsystems and sub-controllers are designed independently. An invariant set condition is provided and a min-max distributed MPC strategy is proposed based on the invariant set. The distributed MPC controller is determined by solving a linear matrix inequality (LMI) optimization problem. An iterative algorithm is provided to coordinate the sub-controllers. A numerical example is carried out to demonstrate the effectiveness of the proposed algorithm.

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Undo the codebook bias by linear transformation for visual applications 13

Undo the codebook bias by linear transformation for visual a...

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21st ACM International Conference on Multimedia, MM 2013

作者： Zhang, Chunjie Zhang, Yifan Wang, Shuhui Pang, Junbiao Liang, Chao Huang, Qingming Tian, Qi School of Computer and Control Engineering University of Chinese Academy of Sciences 100049 Beijing China National Laboratory of Pattern Recognition Institute of Automation Chinese Academy of Sciences Beijing China Key Lab of Intell. Info. Process Institute of Computing Technology Chinese Academy of Sciences Beijing 100190 China College of Computer Science and Technology Beijing University of Technology 100124 Beijing China School of Computer National Engineering Research Center for Multimedia Software Wuhan University 430072 Wuhan China Department of Computer Sciences University of Texas at San Antonio San Antonio TX 78249 United States

ISBN: (纸本)9781450324045

The bag of visual words model (BoW) and its variants have demonstrate their effectiveness for visual applications and have been widely used by researchers. The BoW model first extracts local features and generates the corresponding codebook, the elements of a codebook are viewed as visual words. The local features within each image are then encoded to get the final histogram representation. However, the codebook is dataset dependent and has to be generated for each image dataset. This costs a lot of computational time and weakens the generalization power of the BoW model. To solve these problems, in this paper, we propose to undo the dataset bias by codebook linear transformation. To represent every points within the local feature space using Euclidean distance, the number of bases should be no less than the space dimensions. Hence, each codebook can be viewed as a linear transformation of these bases. In this way, we can transform the pre-learned codebooks for a new dataset. However, not all of the visual words are equally important for the new dataset, it would be more effective if we can make some selection using sparsity constraints and choose the most discriminative visual words for transformation. We propose an alternative optimization algorithm to jointly search for the optimal linear transformation matrixes and the encoding parameters. Image classification experimental results on several image datasets show the effectiveness of the proposed method. Copyright © 2013 ACM.

关键词： Linear transformations

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The Infrared Multispectral Image Simulation Research Based on 3D Scene

The Infrared Multispectral Image Simulation Research Based o...

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2013 3rd International Conference on Electric and Electronics(EEIC 2013)

作者： Bo Li Huai-ci Zhao Mei Du Jinfeng Lv Department of Optical-Electronics and Information Processing Shenyang Institute of automation Chinese Academy of Science University of Chinese Academy of Science Key Laboratory of Optical-Electronics Information Processing Chinese Academy of Science Key Laboratory of Image Understanding and Computer Vision Shenyang Institute of Engineering

A method of generating infrared multispectral simulation images by 3D scene is presented. The infrared images at any observation angle of the scene and a data cube of simulation images of specific waveband could be generated by the method. Some experiments have been done in waveband 3～5μm to generate a data cube involving 401 infrared simulation images in the wavelength step 0.005μm, and the experiments results show that the simulation method presented in this paper could generate infrared multispectral images data cube rapidly. A way to reflect the differences while the observation angle changed is mentioned in this paper.

关键词： infrared multispectral simulation the data cube self-radiation

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Flocking Control for Multi-agent Systems with Communication Optimization

Flocking Control for Multi-agent Systems with Communication ...

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American Control Conference

作者： Heng Li Jun Peng Weirong Liu Jing Wang Jiangang Liu Zhiwu Huang School of Information Science and Engineering Central South University Hunan Engineering Laboratory for Advanced Control and Intelligent Automation Changsha 410075 China Computer Engineering Program Bethune-Cookman University Daytona Beach FL 32114 USA

ISBN: (纸本)9781479901777

In this paper, we consider the flocking control and communication optimization problem for multi-agent systems in a realistic communication environment. In flocking control, it is common to specify the formation by setting the separation distance between neighboring agents and then design the control to maintain the desired formation. However, since communication quality will generally change during flocking in a physical environment, a predefined separation distance might not always be the desired communication distance. In this paper, a distributed scheme integrating potential function and extremum seeking algorithm is proposed to obtain the desired separation distance between neighboring agents in real time. A comprehensive performance index related to the environment is proposed, which captures a trade-off between formation tasks and communication quality. Since it is difficult to calculate the gradient of the performance in physical environments, an adaptive model-free extremum seeking algorithm is designed to solve for the optimal separation distances, which calls for no knowledge of the gradient of performance function. We illustrate the proposed method through simulations.

关键词： Communication Optimization multi-agent systems realistic communication environment Multi-agent systems FLOCKING communication quality extremum seeking algorithm communication distance Standing Orders Gradient potential function

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Design of a repetitive control system based on the compensation of nonlinearities

Design of a repetitive control system based on the compensat...

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32nd Chinese Control Conference, CCC 2013

作者： Chen, Weijie Xiao, Fangchun Min, Wu She, Jinhua School of Information Science and Engineering Central South University Changsha 410083 China Hunan Engineering Laboratory for Advanced Control and Intelligent Automation Changsha 410083 China School of Computer Science Tokyo University of Technology Tokyo 192-0982 Japan

ISBN: (纸本)9789881563835

This paper addresses the problem of tracking period signals for systems subject to input actuator nonlinearity. This kind of nonlinearities widely exists in actuators. This makes the design of controller complicated. In this paper, an equivalent-input-disturbance approach is utilized to estimate the effects of nonlinearities on the output channel, and then compensate them by feeding back to the control input channel. Combining the compensated system with the repetitive control law realizes the effective compensation of nonlinearity and the high accuracy control of period tracking. The deadzone nonlinearity simulations results demonstrate the validity of the proposed method. © 2013 TCCT, CAA.

关键词： Actuators

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Toward a Hybrid Approach to Generate Software Product Line Portfolios

Toward a Hybrid Approach to Generate Software Product Line P...

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IEEE Congress on Evolutionary Computation

作者： Jonathas Cruz Pedro Santos Neto Ricardo Britto Ricardo Rabelo Werney Ayala Thiago Soares Mauricio Mota Software Engineering and Industrial Informatics (EASII) Computer Science Department (DC) Federal University of Piaui (UFPI) LABoratory of Intelligent Robotics Automation and Systems (LABIRAS) State University of Piaui (UESPI)

ISBN: (纸本)9781479904532

Software Product Line (SPL) development is a new approach to software engineering that aims at the development of a whole range of products. One of the problems which hinders the adoption of that approach is related with the management of the products of the line. Additionally, the scope of a software product line is determined by the bounds of the capabilities provided by the collection of products in the product line. This introduces new challenges related to the scope problem. One of the main three different forms of scoping is the Product Portfolio Scoping (PPS). PPS aims at defining the products that should be developed as well as their key features. While this has an impact on the actual reuse opportunities, it is usually driven from marketing aspects. Defining a product portfolio by considering costumers satisfaction and cost aspects is a NP-hard problem. This work presents a hybrid approach, which combines fuzzy inference systems and the multi-objective metaheuristics NSGA-II to support product management by generating portfolios of products, based in segments of users and the development cost of the assets of the SPL. Fuzzy inference systems are used to generate development cost of an asset by using coupling, number of code lines and cyclomatic complexity and also to estimate the quality of the products generated by the optimization module of our approach. The NSGA-II metaheuristic is used to search for products minimizing the cost and maximizing the relevance of the candidate products. The results show that the proposed approach is effective in proposing the best products in terms of relevance and cost of the assets.

关键词： Portfolios Correlation Fuzzy logic Indexes Optimization Couplings Complexity theory

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