In this paper, a novel adaptive dynamic programming algorithm based on policy iteration is developed to solve online multi-player non-zero-sum differential game for continuoustime nonlinear systems. This algorithm is ...
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Mobile robot navigation in smart environment has always been one of the most critical issues in robot research. Deployment of wireless sensor network (WSN) in new environment can provide the mobile robot with efficien...
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ISBN:
(纸本)9781479903337
Mobile robot navigation in smart environment has always been one of the most critical issues in robot research. Deployment of wireless sensor network (WSN) in new environment can provide the mobile robot with efficient aid of navigation and tracking. In this paper, we present a feasible scheme of WSN-aided mobile robot navigation which includes initial localization of mobile robot, orientation adjustment, network-layer path planning, motion tracking and correction based on RSSI in Grid-pattern WSN. Unlike other methods of robot navigation which might require a complex and intelligent robotic system for mapping and path planning, the aim of our method is to transfer complex environment detection and calculation from the robot to network and to decrease the reliance of intelligence on the robot itself. Experimental result shows that our proposed scheme is well-performed and can effectively navigate the robot equipped only with simply sensors for communication and obstacle avoidance.
This paper develops an observer-based direct adaptive output feedback control for a class of multi-input-multi-out nonaffine nonlinear discrete-time systems with unknown bounded disturbances. A neural network (NN) obs...
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With the rapid development of High Speed Railway (HSR) in recent years, its research become one hot academic topic. Serial numbers of HSR trains are unique identifications, which play an important role in railway mana...
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ISBN:
(纸本)9781479903801
With the rapid development of High Speed Railway (HSR) in recent years, its research become one hot academic topic. Serial numbers of HSR trains are unique identifications, which play an important role in railway management and operation. In this paper, we present a vision-based algorithm to automatically recognize the serial numbers of HSR trains by image sensors. Firstly, according to the fixed character layout of serial numbers, the serial number regions in the image are located by a combination of connected components. Maximally Stable Extremal Region (MSER) detector is introduced to extract reliable connected components as candidate characters. Based on the pairwise geometry relation between candidates, these connected components constitute the nearest neighbor chain. The accurate location of the serial number is obtained with the nearest neighbor chain. Meanwhile, character images can be segmented simultaneously. Finally, the characters are recognized with Histogram of Gradient (HoG) features and simple similarity-based classifiers. In the experiments, our recognition performance is evaluated by the test images which are collected from real application scenes. The experimental results show the reliability and effectiveness of our serial number recognition algorithm.
The control of internal transport system of large complex building which focuses on the convenience and comfort for pedestrians, is greatly different from urban traffic. Effective control of the overall internal trans...
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ISBN:
(纸本)9781479905300;9781479905294
The control of internal transport system of large complex building which focuses on the convenience and comfort for pedestrians, is greatly different from urban traffic. Effective control of the overall internal transport system is essential to enhance the safety and convenience. However, ongoing changes in population coupled with the economic development, mean that most of the control and management methods can quickly become dated or even have been unsuitable, leading to the overcrowding in large buildings, especially large-scale hospitals in China. Considerable research on urban traffic has been carried out, whereas the internal transport system has rarely been investigated. This paper thus seeks to develop a practical and efficient methodology to allow current internal transport system to be updated to alleviate the congestion. For this purpose, we undertake a comparison between internal transport system and urban traffic. Then, large-scale hospital's transport system is considered. Features of patient flow, clinic service process, and interior layout are analyzed in detail. Finally, based on these analyses, improved management and control methods of hospital's transport system are presented. The methodology developed in this paper appears to be useful for many applications such as the internal transport system of the shopping mall due to the development of cities.
In this paper, we develop a model-free integral policy iteration algorithm to learn online the Nash equilibrium solution of twoplayer zero-sum differential games with completely unknown nonlinear continuous-time dynam...
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Shape regression analysis is a powerful tool to study local shape changes as a function of an independent regressor variable. In this paper, we introduce spherical harmonic(SPHARM) representation to surface manifold l...
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ISBN:
(纸本)9780819494436
Shape regression analysis is a powerful tool to study local shape changes as a function of an independent regressor variable. In this paper, we introduce spherical harmonic(SPHARM) representation to surface manifold learning and shape regression. Here, we use root mean square distance(RMSD) to measure the deformation degree of the surface, and find out that the hippocampus' deformation degree is increased over age. We also investigate the particular changing area, and discover that the hippocampus have significant changes in the frontal area and tail area, especially in CA1 subfield.
ZigBee is arguably the most prominent alliance dedicated to low-power embedded system. Its PHY and MAC layer protocols rely on the specification of IEEE 802.15.4. In this paper, we briefly detail the IEEE 802.15.4 MAC...
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ISBN:
(纸本)9781479903801
ZigBee is arguably the most prominent alliance dedicated to low-power embedded system. Its PHY and MAC layer protocols rely on the specification of IEEE 802.15.4. In this paper, we briefly detail the IEEE 802.15.4 MAC layer protocol, especially the slotted CSMA/ CA algorithm. Then we calculated the average transmission delay. At last, we proposed an improved algorithm of the average transmission delay time, compared the result with the original algorithm and illustrated the simulation's application scenarios
To handle the pedestrian appearance and pose variations in complex traffic environments, we present one part-based pedestrian detection approach using a stochastic grammar model in this paper. The And-Or graph model i...
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ISBN:
(纸本)9781479903801
To handle the pedestrian appearance and pose variations in complex traffic environments, we present one part-based pedestrian detection approach using a stochastic grammar model in this paper. The And-Or graph model is introduced to represent the human body as an assembly of compositional and reconfigurable parts. Thus, the task of detection is converted into the human parsing problem, which is a Bayesian inference process. We model the appearance of pedestrian parts in a rich feature representation. This appearance model enhances the Histogram of Gradients (HoG) map with Active Basis Model (ABM), which is a sparse deformable template depicting salient structures of objects. Then, geometry constraints among parts are described by Gaussian distributions. Finally, the bottom-up parsing inference is conducted by aggregating scores to get the pedestrian detection responses. In experiments, we show the superiority of our appearance model, as well as the reliable pedestrian detection results of our approach in complex traffic scenes.
Considering the importance of the SF6 extra high voltage circuit breakers in the power supply system, an intelligent monitoring system is developed. And a historical database system is designed for this monitoring sys...
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ISBN:
(纸本)9781479913343
Considering the importance of the SF6 extra high voltage circuit breakers in the power supply system, an intelligent monitoring system is developed. And a historical database system is designed for this monitoring system in this article. This historical database can store and manage such information as historical data, historical fault information, report and device information, etc. Furthermore, there is a simple device expert database in this historical database developed to assist fault detect. The SQLite, a lightweight relational database, is adopted as the backend database in this historical database system. According to the specific requirements of the actual application for monitoring task, the Entity-Relationship model is designed. Application experiments in the actual working environment reveal that this historical database system can well accomplish the information storage and management work and completely meet the requirements of the intelligent monitoring system.
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