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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： Junzhi Yu Min Tan Zongshuai Su Jianwei Zhang State Key Laboratory of Intelligent Control and Management of Complex Systems Institute of Automatio Department of Informatics University of Hamburg Germany

This paper presents a novel closed-loop method for a multilink robotic fish to mimic the C-start maneuver, in which the turning speed and precision are emphasized. The turning speed is maximized by carefully designed preparatory stage, and the turning precision is achieved by the feedback of the turning angle from a gyroscope and a new design of the propulsive stage. Different types of C-starts are studied, due to the different sizes of caudal fins, in order to achieve the highest turning angular velocity. All the proposed types of C-starts are experimented and compared using a four-joint robotic fish. The experimental results show a fastest angular velocity up to 200°/s and the distinctions between all these different types.

关键词： Biomemetics Robotic fish C-start

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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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High-order MRF prior based bayesian deblurring

International Journal of Digital Content Technology and its ...

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International Journal of Digital Content Technology and its Applications 2011年第12期5卷 383-392页

作者： Zhao, Bo Zhang, Wensheng Liu, Jin Ding, Huan State Key Laboratory of Intelligent Control and Management of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China State Key Laboratory of Software Engineering Computer School Wuhan University China

A novel image deblurring method based on high-order non-local range Markov Random Field (NLR-MRF) prior is proposed in the paper. NLR-MRF provides an effective framework to model the statistical prior of natural images and leads to excellent performance in the application of image denoising and inpainting. Moreover, the framework will be extended to image deblurring in our work. Instead of commonly used maximum a-posteriori (MAP) estimation, which has several shortcomings, the high-order NLR-MRF prior is integrated into Bayesian minimum mean squared error (MMSE) estimation framework. Then, an efficient Gibbs sampling algorithm is adopted to compute MMSE estimation. The proposed method frees the user from determining regularization parameter beforehand, which relies on unknown noise level. We perform experiments on synthetic and real-world data to demonstrate the effectiveness of our method. Both quantitatively and qualitatively evaluations show superior or comparable results to the state-of-art deblurring methods.

关键词： Image denoising

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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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Video processing techniques for traffic flow monitoring: A survey

Video processing techniques for traffic flow monitoring: A s...

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International Conference on intelligent Transportation

作者： Bin Tian Qingming Yao Yuan Gu Kunfeng Wang Ye Li State Key Laboratory of Intelligent Control and Management of Complex Systems Institute of Automation Chinese Academy and Sciences Beijing China Jiangsu China Sciences Intelligent Engineering Co. Ltd. Suzhou 215000 China Institute of Automation Chinese Academy of Sciences (CAS) Beijing China State Key Laboratory of Intelligent Control and Management Institute of Automation Chinese Academy of Sciences (CAS) Beijing China State Key Laboratory of Intelligent Control and Management of Complex Systems Institute of Automation Chinese Academy of Sciences (CAS) Beijing China

Video-based traffic flow monitoring is a fast emerging field based on the continuous development of computer vision. A survey of the state-of-the-art video processing techniques in traffic flow monitoring is presented in this paper. Firstly, vehicle detection is the first step of video processing and detection methods are classified into background modeling based methods and non-background modeling based methods. In particular, nighttime detection is more challenging due to bad illumination and sensitivity to light. Then tracking techniques, including 3D model-based, region-based, active contour-based and feature-based tracking, are presented. A variety of algorithms including MeanShift algorithm, Kalman Filter and Particle Filter are applied in tracking process. In addition, shadow detection and vehicles occlusion bring much trouble into vehicle detection, tracking and so on. Based on the aforementioned video processing techniques, discussion on behavior understanding including traffic incident detection is carried out. Finally, key challenges in traffic flow monitoring are discussed.

关键词： Vehicles Monitoring Tracking Vehicle detection Image edge detection Trajectory Computational modeling

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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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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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Vulnerability analysis of power grid based on multi-agent complex systems

Vulnerability analysis of power grid based on multi-agent co...

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

作者： Xisong Dong Gang Xiong Jiachen Hou Fan Dong Timo R. Nyberg State Key Laboratory of Intelligent Control and Management of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China BIT Research Centre Aalto University Aalto Finland

Modern power grid is a typical multi-level complex giant system. The conventional analytical methods based on reductionism can't provide sufficient guidance for its operation and management. complex system theory, based on holism, has its specific advantages in power grid's research. But, it has some limitations. In this article, we improve complex grid by introducing new parameters which can describe the grid's characters better and using multi-agent theory. As an application, the complex power grid constructed with actual data from North China grid is constructed and its vulnerability has been simulated and analyzed under different attacks.

关键词： Knowledge engineering Databases

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