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IEEE International Conference on Vehicular Electronics and Safety (ICVES)

作者： Bin Tian Ran Chen Yanjie Yao Naiqiang Li State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China Qingdao Academy of Intelligent Industries Qingdao China

ISBN: (纸本)9781509029341

Traffic sign recognition is an important topic in driver assistant system and intelligent autonomous vehicles. Traffic sign detection is a critical step, whose performance greatly affect the performance and computation cost of traffic sign recognition. In this paper, we propose a traffic sign detection method based on a scoring SVM model. First, traffic sign color and color gradient are extracted according to their color characteristics. Then, the shape of traffic sign is computed by a voting scheme, yielding shape score maps. After that, the score maps of traffic signs are used to train a SVM model. Compared with single traffic sign score value, the score map is more efficient to verify the existence of a traffic sign. Finally, the trained SVM model is used to detect traffic signs. Experiments show that the proposed method is more effective than the voting based method to detect traffic signs.

关键词： Support vector machines Decision support systems Color Image edge detection Erbium Shape Detectors

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Design of a camera stabilizer system for robotic fish based on feedback-feedforward control

Design of a camera stabilizer system for robotic fish based ...

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Chinese control Conference (CCC)

作者： Xiang Yang Zhengxing Wu Jincun Liu Junzhi Yu State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing P. R. China State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing Beijing CN

This paper presents a novel approach for a visual system of robotic fish to reduce the instability of camera image caused by the inherent periodic yawing of the fish head. In order to acquire the stable image from the camera located inside of the fish head, a camera stabilizer for the visual system is designed. Meanwhile, an Inertial Measurement Unit (IMU) with nine degrees-of-freedom (DoFs) is employed to maintain the attitude of the camera stable with respect to the inertial frame. To accurately describe the stabilizer system characteristics, a simple and effective system model is built. Moreover, a feedback-feedforward controller is proposed to mitigate the periodic swing effect and obtain stable and clear camera image when the robotic fish is swimming. Finally, the simulation and experiments both verified the effectiveness of the mechanism design for camera stabilizer and the corresponding feedback-feedforward control approach for enhancing the stability of images.

关键词： Cameras Robot vision systems control systems Head Feedforward neural networks

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A Slope Detection Method Based on 3D LiDAR Suitable for Quadruped Robots

A Slope Detection Method Based on 3D LiDAR Suitable for Quad...

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World Congress on intelligent control and Automation

作者： Xiangrui Meng Zhiqiang Cao Leijie Zhang Shuo Wang Chao Zhou State Key Laboratory of Management and Control for Complex Systems Institute of Automation CAS Beijing 100190 China

ISBN: (纸本)9781467384155

This paper introduces a slope detection method based on point cloud data from 3D LiDAR for quadruped robots in unknown environments. For quadruped robots, they need to adjust their gaits according to different slope angles to avoid some potential dangers. 3D LiDAR is used to gather point cloud data, which is superior to 2D LiDAR in speed and accuracy. In this paper, a slope detection method using bilateral filtering and RANSAC algorithms is discussed. The experiments of slope detection are fulfilled with the consideration of different angles of slopes and different orientations to the slopes, and the results demonstrate that errors of angle estimation is small.

关键词： Laser radar Three-dimensional displays Robot kinematics Robot sensing systems Mobile robots Lidar quadruped robot three-dimensional displays Manipulator sensing systems Robot kinematics Mobile robots bilateral filtering Unknown environments

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Hydrodynamic analysis of a gliding robotic dolphin based on Computational Fluid Dynamics

Hydrodynamic analysis of a gliding robotic dolphin based on ...

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Chinese control Conference (CCC)

作者： Kang Li Junzhi Yu Zhengxing Wu Min Tan State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing Beijing CN

ISBN: (纸本)9781509009107

This paper presents a concrete and practical hydrodynamic analysis for a hybrid gliding robotic dolphin. In order to obtain the accurate hydrodynamic performance of both dolphin-like swimming and gliding motion, a Computational Fluid Dynamics (CFD) method is employed. Specifically, based on the FlUENT dynamic mesh interface, a novel dynamic mesh and user-defined function (UDF) are developed to describe the dorsoventral oscillations of the dolphin. Besides, the corresponding turbulent model and SIMPLE algorithm suited to dolphin-like swimming are also meticulously selected for great accuracy and high quality. Finally, the FLUENT simulation results reveal the pressure distribution and velocity field distribution around the robotic dolphin. Moreover, some important hydrodynamic coefficients including lift coefficients and drag coefficients at different frequencies are also obtained. The simulation results illustrate an expected hydrodynamic performance of the gliding robotic dolphin.

关键词： Dolphins Hydrodynamics Mathematical model Robot kinematics Computational modeling

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A 3-DOF compact haptic interface for endoscopic endonasal approach surgery simulation

A 3-DOF compact haptic interface for endoscopic endonasal ap...

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IEEE/ASME (AIM) International Conference on Advanced intelligent Mechatronics

作者： Jianlong Hao Gui-Bin Bian XiaoLiang Xie Zeng-Guang Hou Xiao-Hu Zhou State Key Laboratory of Management and Control for Complex Systems University of Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781509020669

Endoscopic endonasal approach surgery is now the preferred treatment for most pituitary and related skull base tumors. However, this procedure requires a high level of hands-on skills and rich clinical experience. During the operation, haptic feedback, as the only one sense of bidirectional information interaction, plays an important role in surgical decision-making especially for bone-drilling. Existing surgical simulators provide either no haptic device or multipurpose haptic devices, which is difficult to reproduce the characteristics of surgical tool handling. In this paper, a custom-designed 3-DOF (pitch, yaw, radial) compact haptic interface for this surgery simulation is presented. It is dedicated to mimicking the touch sense of the surgical tools inserted through the nostril. Its main innovation is the mechanism design to maintain as much fidelity of the tool handling in the surgical training as in a real operation. The mechanism design is presented in detail as well as the kinematics and the force transmission. The mechanical characteristics of this haptic interface are also analyzed and presented.

关键词： Haptic interfaces Rails Force Training Neurosurgery Skull

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A Perturbed Gaussian Process Regression with Chunk Sparsification for Tracking Non-stationary systems

A Perturbed Gaussian Process Regression with Chunk Sparsific...

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第28届中国控制与决策会议

作者： Dong Li Dongbin Zhao Zhongpu Xia The State Key Laboratory of Management and Control for Complex Systems.Institute of Automation Chinese Academy of Sciences

ISBN: (纸本)9781467397155

Gaussian processes provide a Bayesian regression framework,commonly used in stationary regression by online learning,where the data is fed one by *** this paper,a perturbed Gaussian process with chunk sparsification is proposed to track non-stationary systems.A chunk sparsification mechanism is designed to select the optimal bases from a chunk of *** non-stationary system is modeled by a perturbed Gaussian process(PGP),which enables it to track the changing of the system through forgetting the history information at one point or a chunk of ***,PGP is tested on two *** results show that PGP requires less bases than the approximate linear dependence(ALD)sparsification,especially when the data is collected from a trajectory.

关键词： Gaussian process non-stationary regression chunk spasification

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Urban intelligent Parking System Based on the Parallel Theory

Urban Intelligent Parking System Based on the Parallel Theor...

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International Conference on Computing, Networking and Communications

作者： Fei-Yue Wang Liu-Qing Yang Jian Yang Yanli Zhang Shuangshuang Han Kai Zhao The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Qingdao Academy of Intelligent Industries Qingdao Shandong Province

ISBN: (纸本)9781467385800

Nowadays, urban parking circumstances are becoming more and more challenging. To solve this problem, many methods have been proposed, such as infrastructure expansion, economic leverage and technical theory. However, these solutions are generally used independently, thus it is infeasible to solve all existing problems. Therefore, a novel and revolutionary solution is urgently required. In this paper, we first comprehensively investigate the background of parking difficulties, and find that all of the current existing solutions are not able to meet the requirements of dynamic, systematization, high efficiency and accuracy. Then we briefly introduce the parallel theory, and propose the intelligent parking system based on the parallel theory, which can provide a systematic intelligent solution to meet the needs of current parking systems. The parallel parking system is made up of three parts, including the artificial system, the computational experiments, and the parallel execution. The proposed parallel parking system not only provides a novel direction to solve the parking problem, but also is an important guidance for the specific implementation of parallel parking theory.

关键词： Vehicles complex systems Artificial intelligence Computational modeling Economics control systems

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An overall solution of Virtual Reality classroom

An overall solution of Virtual Reality classroom

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IEEE International Conference on Service Operations and Logistics, and Informatics, SOLI

作者： Xisong Dong Institute of Smart Education Systems Qingdao Academy of Intelligent Industries Qingdao China The State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781509029280

Virtual Reality (VR) is a three-dimensional computer-generated virtual world. It is essential to introduced VR technology to education area to develop new teaching mode to improve the efficiency and quality of teaching and learning. Among them, VR classroom has quickly become most dazzling star with its subversive advantage. This paper proposes an overall integration solution of VR classroom, including its composition, its scene design of various disciplines and its main advantage. Finally, a case study of a geography lesson is provided to show its advantages and strong potentiality.

关键词： Education Virtual reality Geography Three-dimensional displays Visualization Solar system Chemistry

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Enhanced biologically inspired model for image recognition based on a novel patch selection method with moment

arXiv

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arXiv 2017年

作者： Lu, Yan-Feng Jia, Li-Hao Qaio, Hong Li, Yi Research Center for Brain-inspired Intelligence Institute of Automation Chinese Academy of Sciences Beijing China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China CAS Center for Excellence in Brain Science and Intelligence Technology Shanghai China School of Information Engineering Nanchang University Nanchang China

Biologically inspired model (BIM) for image recognition is a robust computational architecture, which has attracted widespread attention. BIM can be described as a four-layer structure based on the mechanisms of the visual cortex. Although the performance of BIM for image recognition is robust, it takes the randomly selected ways for the patch selection, which is sightless, and results in heavy computing burden. To address this issue, we propose a novel patch selection method with oriented Gaussian-Hermite moment (PSGHM), and we enhanced the BIM based on the proposed PSGHM, named as PBIM. In contrast to the conventional BIM which adopts the random method to select patches within the feature representation layers processed by multi-scale Gabor filter banks, the proposed PBIM takes the PSGHM way to extract a small number of representation features while offering promising distinctiveness. To show the effectiveness of the proposed PBIM, experimental studies on object categorization are conducted on the CalTech05, TU Darmstadt (TUD), and GRAZ01 databases. Experimental results demonstrate that the performance of PBIM is a significant improvement on that of the conventional BIM. Copyright © 2017, The Authors. All rights reserved.

关键词： Image enhancement

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How to “STEAM” children at home? Let children “STEAM” themselves

How to “STEAM” children at home? Let children “STEAM” th...

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IEEE International Conference on Service Operations and Logistics, and Informatics, SOLI

作者： Xiaoyan Gong Institute of Smart Education Systems Qingdao Academy of Intelligent Industries Qingdao China The State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781509029280

In this article, I would like to share my daughter's experience on self-STEAM education. In our daily life, she can always find problems and then dream them with her imagination, finally narrows down her solutions to solve problems in her own way. During these problem-solving processes, I noticed that she went through sciences, technology, engineering, arts and mathematics in a very natural way. So I would like to say, STEAM is the way we learn and grow ever since we were born. But later at school, we are trained in a way that subjects are completely disconnected. It might take time to change this situation at school, but at home, as parents, we need to realize that children can discover new things by themselves even from young ages, and provide rich learning environment for them and let them “STEAM” themselves in their own way.

关键词： natural sciences art engineering education mathematics Steam natural sciences mathematics Engineering education Arts Road schools Domestic architecture Child Dreams Daughters

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