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Motion vehicles tracking in intelligent transportation visual surveillance systems

Nanjing Li Gong Daxue Xuebao/Journal of Nanjing University of Science and Technology 2012年第SUPPL.2期36卷 216-222页

作者： Wu, Lin-Feng Xiong, Gang Qian, Shou-Yi Xie, Li Zhejiang Provincial Key Lab. of Information Network Technology Department of Information Science and Electronic Engineering Zhejiang University Hangzhou 310027 China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China Cloud Computing Industrial Technology Innovation and Incubation Center Dongguan Research Institute of CASIA Chinese Academy of Sciences Dongguan 523808 China Wenzhou Research Institute of Electronics and Information Wenzhou 325003 China

In terms of the difficulty of vehicle tracking in complex environment of the visual surveillance system, an object tracking algorithm is proposed for the applications in practical visual surveillance systems for intelligent traffic. A block-based Gaussian mixture background modeling method for object detection is presented to reduce the computational complexity of moving vehicle object abstraction. An adaptive tracking algorithm fused with color features and texture features is described to better adapt the traffic scene variation. The experimental results show that the proposed algorithm can effectively deal with the complex urban traffic conditions and the tracking performance is better than the conventional particle filter method and single feature based non-adaptive object tracking method.

关键词： Tracking (position)

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Thrust analysis of the undulating ribbon-fin for biomimetic underwater robots

Thrust analysis of the undulating ribbon-fin for biomimetic ...

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International Conference on Intelligent control and Information Processing

作者： Wang, Shuo Dong, Xiang Shang, Liu-Ji State Key Laboratory of Intelligent Control and Management of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China Institute of Intelligent Machines Chinese Academy of Sciences P.O. Box 1130 Hefei City 230031 Anhui Province China

ISBN: (纸本)9781457708145

Biomimetic underwater robots have been paid more and more attention because of high efficiency, high maneuverability and low-noise. The undulating ribbon-fins used by rajiformes and gymnotiformes show better maneuverability than those of other fishes in turbulent water. So the undulating ribbon-fin propulsion is analyzed for biomimetic underwater robot design and optimization in the paper. The geometric model of the ribbon-fin is set up in Cartesian space. The undulating motion of the ribbon-fin is expressed in trigonometric functions. And the ribbon-fin has been divided into many small elements to compute the force acted on the small element. All the forces acted on the elements in one undulating period are summed, and the average thrust for one undulating period of the ribbon-fin is obtained. The simulation results show the influence of several important parameters on the ribbon-fin thrust. And an experimental platform is built and several experiments are carried out. And the difference between the results of simulation and experiment are discussed further. © 2011 IEEE.

关键词： Fins (heat exchange)

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Fast double-parallel image processing based on FPGA

Fast double-parallel image processing based on FPGA

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IEEE International Conference on Vehicular Electronics and Safety

作者： Li, Ye Yao, Qingming Tian, Bin Xu, Wencong State Key Lab. of Intelligent Control and Management of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China School of Mechanical Electrical and Information Engineering Shandong University Weihai 264209 China

ISBN: (纸本)9781457705762

Due to FPGA's flexibility and parallelism, it is popular for accelerating image processing. In this paper, a double-parallel architecture based on FPGA has been exploited to speed up median filter and edge detection tasks, which are essential steps during image processing. The double-parallel scheme includes an image-level parallel and an operation-level parallel. The image-level parallel is a high-level parallel which divides one image into different parts and processes them concurrently. The operation-level parallel, which is embedded in each image-level parallel thread, fully explores every parallel part inside the concrete algorithms. The corresponding design is based on a DE2 Development Board which contains a CYCLONE II FPGA device. Meanwhile, the same task has also been implemented on PC and DSP for performance comparison. Despite the fact that operating frequencies of used PC and DSP are much higher than FPGA's, FPGA costs less time per computed image than both of them. By taking advantage of the double-parallel technique, the speed/frequency ratio of FPGA is 202 times faster than PC and 147 times faster than DSP. Finally, a detailed discussion about different platforms is conducted, which analyzes advantages and disadvantages of used computing platforms. This paper reveals that the proposed double-parallel scheme can dramatically speed up image processing methods even on a low-cost FPGA platform with low frequency and limited resources, which is very meaningful for practical applications. © 2011 IEEE.

关键词： Field programmable gate arrays (FPGA)

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Development of Learning control in Robots

Development of Learning Control in Robots

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2011 IEEE International Conference Mechatronics and Automation(2011 IEEE机电一体化与自动化国际会议)

作者： Hu Su De Xu Yanlong Huang State Key Laboratory of Intelligent Control and Management of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China

Learning control has been an active topic of research for several decades, and is of theoretical, as well as practical, significance. Current theories and developments in learning control are discussed. Following a brief introduction of the state as well as new progress on learning control, we give a detail review on the models and algorithms of the control policies developed recently which proved to be advantageous over previous approaches through experimental results. The related results and properties are presented. Then, several potentially developmental topics that are valuable to be further investigated are suggested. Finally, the conclusion remark is proposed.

关键词： Learning control dynamic motor primitive learn by imitation locally weighted regress locally weighted projection regress.

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Trajectory prediction of spinning ball for ping-pong player robot

Trajectory prediction of spinning ball for ping-pong player ...

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2011 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Yanlong Huang De Xu Min Tan Hu Su State Key Laboratory of Intelligent Control and Management of Complex Systems Institute of Automation Chinese Academy of Sciences (CAS) Beijing China

An analytic flying model that can well represent the physical behavior is derived, where the ball's self-rotational velocity changes along with the flying velocity. Based on the least square method, a rebound model that represents the relation between the velocities before and after rebound is established. The initial trajectory is fitted to three second order polynomials of the flying time with the measured positions of the ball. The initial velocities of the ball in the analytic flying model, including the flying velocity and the self-rotational velocity, are computed from the polynomials. The ball's landing position and velocity is predicted with the model. The velocities after rebound are determined with the rebound model. By taking the velocities after rebound as new initial ones, the flying trajectory after rebound is described with the model again. In other words, the ball's trajectory is predicted. Experimental results verify the effectiveness of the proposed method.

关键词： Trajectory Position measurement Robot kinematics Velocity measurement Spinning Predictive models

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Translational Offset Detection Based on Far-Field Intensity for Grating Tiling

Translational Offset Detection Based on Far-Field Intensity ...

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2011 IEEE International Conference Mechatronics and Automation(2011 IEEE机电一体化与自动化国际会议)

作者： Zaojun Fang Yanlong Huang Min Tan De Xu Lan Xia State Key Laboratory of Intelligent Control and Management of Complex Systems Institute of Automatio Laboratory of Shanghai Institute of Laser and Plasma Chinese Academy of Engineering Physics Shanghai

The far-field intensity is detected from far-field image to estimate the piston distance between two gratings. The image processing algorithm includes projections along the horizontal and vertical directions, search for each focal spot's centre, feature extraction and intensity computation. Each focal spot's centre can be found with the projections. A self-growing method is used for feature extraction, where the threshold value depends on the gray value of each focal spot's centre. For each focal spot, the sum of gray values within the relevant domain is taken to be its energy intensity. Furthermore, the energy ratio of left and main focal spots (or main and right focal spots) is computed. A formula that expresses the piston distance between two gratings as the function of the energy ratio is fitted with several measured points. Based on this formula, the piston distance is obtained for a new energy-ratio. Finally, the proposed method is verified with a series of experiments.

关键词： Image processing grating tiling far-field intensity focal spot piston distance

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Inertia in strategy switching transforms the strategy evolution

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Physical Review E 2011年第6期84卷 066103-066103页

作者： Yanling Zhang Feng Fu Te Wu Guangming Xie Long Wang Center for Systems and Control State Key Laboratory for Turbulence and Complex Systems College of Engineering Peking University Beijing 100871 China Program for Evolutionary Dynamics Harvard University Cambridge Massachusetts 02138 USA

A recent experimental study [Traulsen et al., Proc. Natl. Acad. Sci. 107, 2962 (2010)] shows that human strategy updating involves both direct payoff comparison and the cost of switching strategy, which is equivalent to inertia. However, it remains largely unclear how such a predisposed inertia affects 2×2 games in a well-mixed population of finite size. To address this issue, the “inertia bonus” (strategy switching cost) is added to the learner payoff in the Fermi process. We find how inertia quantitatively shapes the stationary distribution and that stochastic stability under inertia exhibits three regimes, with each covering seven regions in the plane spanned by two inertia parameters. We also obtain the extended “1/3” rule with inertia and the speed criterion with inertia; these two findings hold for a population above two. We illustrate the above results in the framework of the Prisoner's Dilemma game. As inertia varies, two intriguing stationary distributions emerge: the probability of coexistence state is maximized, or those of two full states are simultaneously peaked. Our results may provide useful insights into how the inertia of changing status quo acts on the strategy evolution and, in particular, the evolution of cooperation.

关键词： INERTIA (Mechanics) PRISONER'S dilemma game PROBABILITY theory STOCHASTIC analysis PHYSICS research QUANTITATIVE research

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Polarity Shifting: Corpus Construction and Analysis

Polarity Shifting: Corpus Construction and Analysis

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International Conference on Asian Language Processing (IALP)

作者： Xiaoqian Zhang Shoushan Li Guodong Zhou Hongxia Zhao Natural Language Processing Laboratory Soochow University Suzhou China State Key Laboratory of Intelligent Control and Management of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China

Polarity shifting has been a challenge to automatic sentiment classification. In this paper, we create a corpus which consists of polarity-shifted sentences in various kinds of product reviews. In the corpus, both the sentimental words and shifting trigger words are annotated. Furthermore, we analyze all the polarity shifted sentences and categorize them into five categories: opinion-itself, holder, target, time and hypothesis. Experimental study shows the agreement of annotation and the distribution of the five categories of polarity shifting.

关键词： Machine learning Dictionaries Computational linguistics Manuals Noise Data mining Vectors

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How to guide a sustainable industrial economy: Emergy account for resources input of Chinese industry

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Procedia Environmental Sciences 2011年 5卷 51-59页

作者： B. Zhang G.Q. Chen Q. Yang Z.M. Chen B. Chen Z. Li State Key Laboratory of Turbulence and Complex Systems College of Engineering Peking University Beijing 100871 China State Key Joint Laboratory of Environmental Simulation and Pollution Control School of Environment Beijing Normal University Beijing 100875 China

Emergy analysis provides a feasible approach to evaluate the status and position of different energy carriers in the universal energy hierarchy. In this paper, an emergy-based method is conducted to measure the resources input of Chinese industry from 1997 to 2006. Resources inflows including fossil fuels, mineral resources, agricultural products, and other imported materials are accounted, based on which related indicators including resources intensity, industrial output, and environmental emissions are investigated. Results show a steady upward trend for the total resources input of Chinese industry during the past decade. The total resources input amounted to 1.53×1025 sej in 2006, of which non-renewable one accounted for 70.65% owing to the dominating input of fossil fuels and nonmetal minerals. Resources intensity measured by the ratio of resources input to industrial value added declined gradually during 1997–2002, but the rapid expansion of resource–intensive sub–sectors resulted in a reverse trend since 2003. The current resources use pattern of Chinese industry is characterized by increasing input of non-renewable resources, excessive expansion of resource–intensive production, and tremendous challenge from environmental pressure.

关键词： Emergy Resources input Chinese industry

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The strategies of avoiding energy holes in wireless sensor networks

The strategies of avoiding energy holes in wireless sensor n...

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2011 4th International Congress on Image and Signal Processing(第四届图像与信号处理国际学术会议 CISP 2011)

作者： Xu QIAN Zhengjie WANG Xiaoguang ZHAO School of Mechanical Electronic & Info. Engineering China University of Mining & Technology (Beijing State Key Laboratory of Intelligent Control and Management of Complex Systems Institute of Automati

Wireless sensor networks are characterized by multihop network. Some nodes in network are required to forward a disproportionately high amount of traffic and die early, leaving the unmonitored areas in network and leading to the problem of energy hole. This paper investigates a variety of strategies to avoid the energy hole, such as communication power control, data aggregation, nonuniform energy distribution, mobile node auxiliary and clustering. The analysis and comparison of different strategies are given and the advantages and disadvantage of them are discussed in this paper.

关键词： wireless sensor networks energy balance energy hole network lifetime

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