An important characteristic of real-world learning process is that the data frequently contains uncertainties. The uncertainties in the datasets deteriorate the learning process. Hence, to properly represent and handl...
详细信息
This paper proposes a vision-based autonomous move-to-grasp approach for a compact mobile manipulator under some low and small environments. The visual information of specified object with a radial symbol and an overh...
详细信息
This paper proposes a vision-based autonomous move-to-grasp approach for a compact mobile manipulator under some low and small environments. The visual information of specified object with a radial symbol and an overhead colour block is extracted from two CMOS cameras in an embedded way. Furthermore, the mobile platform and the postures of the manipulator are adjusted continuously by vision-based control, which drives the mobile manipulator approaching the object. When the mobile manipulator is sufficiently close to the object, only the manipulator moves to grasp the object based on the incremental movement with its head end centre of the end-effector conforming to a Bezier curve. The effectiveness of the proposed approach is verified by experiments.
We consider the problem of mobile sensor node localization and propose an unscented particle filter algorithm in wireless sensor networks (WSNs) consisting of mobile nodes and static anchor nodes. Because the received...
详细信息
ISBN:
(纸本)9780769549613;9781467358088
We consider the problem of mobile sensor node localization and propose an unscented particle filter algorithm in wireless sensor networks (WSNs) consisting of mobile nodes and static anchor nodes. Because the received signal strength (RSS) varies obviously, we employ particle filter to decrease the bad effect. We first form the system state model, mobile model, and RSS model, and then apply unscented particle filter and utilize the systematic resample to decrease the degeneration of the particle. We eliminate the uncertain of the RSS in wireless channel and get accurate location of mobile nodes. The predicted position of the mobile node is constrained by its velocity and the measurement value of RSS. We do a lot of simulation to validate the algorithm by assigning different parameters. Simulation results show that the algorithm enhances the localization accuracy of mobile node compared with the standard particle filter algorithm.
The main purpose of this paper is to make table tennis robots complete the hit table tennis ball action by imitating human’s behavior. The main strategy is to record a video of action which people played the table te...
详细信息
The main purpose of this paper is to make table tennis robots complete the hit table tennis ball action by imitating human’s behavior. The main strategy is to record a video of action which people played the table tennis, then analysis the video of the racket trajectory. The racket in the image is extracted by image processing when the each frame is captured in the video. Then three-dimensional coordinates of the center of the racket and racket posture are obtained via PnP positioning approach based on the intrinsic parameters of the camera. The table tennis robot will off-line learn to complete the imitation of basic actions of the racket trajectory and postures. A large number of experimental data is used to establish basic actions of table tennis robot.
Opinion mining has gained increasing attention and shown great practical value in recent years. Existing research on opinion mining mainly focuses on the extraction of lexicon orientation and opinion targets. The expl...
详细信息
Opinion mining has gained increasing attention and shown great practical value in recent years. Existing research on opinion mining mainly focuses on the extraction of lexicon orientation and opinion targets. The explanations of opinions, which are potentially valuable for many applications, are totally ignored. To address this specific research challenge, in this paper, we propose an approach to extract the explanation of reason and/or consequence behind an opinion via learning word pairs and using causal indicators from Chinese online reviews. We also improve our word pair based method by constructing clusters of word paris. Experiments on a Chinese business review corpus show that our method is feasible and effective.
Food safety events are typical public security events that draw great public concern. In food safety events, millions of netizens pay close attention to the event, express their opinions online and thus influence the ...
详细信息
Food safety events are typical public security events that draw great public concern. In food safety events, millions of netizens pay close attention to the event, express their opinions online and thus influence the decisions of government or food producers. Modeling netizen groups, especially the dynamics of their opinions in these events, can help us understand the mechanism and evolvement of such events and provide valuable insights for social management. However, conventional computational models, such as agent-based models, are usually constructed manually. In this paper, we propose an approach to acquiring netizen group's opinions from online comments to facilitate the modeling of food safety events. We conduct experimental study on typical events happened in China and empirically evaluate the performance of our proposed approach. The results verify the effectiveness of the approach.
This paper presents a novel downhole power supply control system using fuzzy PID control strategy. The control system is powered by a downhole turbine generator which generates AC voltage. The output of the turbine ge...
详细信息
Evacuees' behaviors have a significant impact on evacuation efficiency. Evacuation clearance time is one of the key indicators in the evacuation planning and management. Evacuees' departure time choice, destin...
详细信息
Evacuees' behaviors have a significant impact on evacuation efficiency. Evacuation clearance time is one of the key indicators in the evacuation planning and management. Evacuees' departure time choice, destination choice and route choice behavior based on real-time traffic information are three crucial factors used to estimate evacuation clearance time. In this paper, we use the orthogonal experimental design method to determine values of these three factors simultaneously, which can reduce evacuation clearance time significantly. Once we obtain these values, we can guide evacuees' departure time choice, destination choice and route choice behavior to approximate these values and evacuation efficiency will improve greatly. The dynamic traffic evacuation process is modeled using a rule-based multi-agent microscopic traffic simulation system called TransWorld. The simulation experiment results illustrate the effectiveness and reliability of the proposed method. The proposed methodology, computational results and discussions can be used for future emergency evacuation planning and management.
Dynamic changes and uncertainty in traffic environments directly spawned lots of strategies about traffic signal control (TSC). Meanwhile, the differences in the traffic environment and demand of control have a signif...
详细信息
ISBN:
(纸本)9781467330633
Dynamic changes and uncertainty in traffic environments directly spawned lots of strategies about traffic signal control (TSC). Meanwhile, the differences in the traffic environment and demand of control have a significant impact on the performance of strategies about TSC. In order to enable dynamic selection of the most appropriate TSC agents for each specific traffic state in urban traffic transportation system, we firstly propose a survey about urban TSC, which helps us to understand the characteristics of TSC strategies. This survey focuses on the traffic environment about the application of TSC and the demand of TSC. Then, based on the aforementioned survey, we propose one recommendation mechanism for agent-based distributed and adaptive platform for transportation systems to adapt to traffic dynamic characteristic.
作者:
Shang, XiuqinXiong, GangCheng, ChangjianLiu, XiweiChinese Acad Sci
Beijing Engn Res Ctr Intelligent Syst & Technol Inst Automat State Key Lab Management & Control Pr Complex Sys Beijing 100190 Peoples R China Chinese Acad Sci
Cloud Comp Ind Technol Innovat & Incubat Ctr Dongguan Res Inst CASIA Dongguan Guangdong 523808 Peoples R China
A data-driven system of parallel emergency management is designed to manage production safety emergencies caused by natural or human-induced disasters in the petrochemical plant, combining with the parallel management...
详细信息
ISBN:
(纸本)9781467313988
A data-driven system of parallel emergency management is designed to manage production safety emergencies caused by natural or human-induced disasters in the petrochemical plant, combining with the parallel management theory based on ACP (Artificial systems, Computational Experiment, and Parallel Execution) approach. Data is acquired by use of techniques including video monitoring and detection, which is the premise of building Artificial System. Based on mass data of the keystate variables, Artificial System is designed by using fussy expert system and other intelligent modeling algorithms. Finally, the parallel emergency solution is provided for emergency management in one case of ethylene plant, and it can make a great improvement to the emergency management of the plant.
暂无评论