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检索条件"机构=State Key Laboratory of Management and Control for Complex Systems Institute of Automation"

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

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

引用

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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ACP theory based plant human machine interaction evaluation

ACP theory based plant human machine interaction evaluation

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

作者： Xiwei Liu Xiaowei Shen Dong Fan State Key Laboratory of Intelligent Control and Management of Complex Systems Institute of Automation Chinese Academy and Sciences Beijing China

It's an important need for a large chemical plant to roundly and deeply evaluate the design prototype of plant human machine interaction (HMI) using in the control room. To meet this need, we propose an evaluation method based on the ACP (Artificial system, Computational experiment, and Parallel execution) theory. A plant operator agent is created in the method and it is composed of perception, cognition, and execution processors, short-term memory, and long-term memory. The operator agent is used as a virtual subject, and the HMI can be evaluated by behavior simulation, from the viewpoints of shortening fault detection and isolation (FDI) track and decreasing operator's physical and mental workloads. The proposed method shows that the ACP theory is useful for the HMI evaluation.

关键词： Pipelines Switches Frequency modulation

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A multi-target tracking approach combined with occlusion segmentation

A multi-target tracking approach combined with occlusion seg...

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International Workshop on Advanced Computational Intelligence (IWACI)

作者： Huan Ding Wensheng Zhang State Key Laboratory of Intelligent Control and Management of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China

Multiple-target tracking in complex scenes is one of the most complicated problems in computer vision. Handling the occlusion between objects is the key issue in multiple target tracking. This paper presents an occlusion segmentation-based method to track multiple people in complex situations which are captured by static monocular cameras. In the proposed method, we calculate the probabilistic histogram of each object's optical flow vector, then use this motion statistic information along with the color and appearance information to construct a new expression of pixel distance. Finally, a stepwise classification and K-means clustering method are taken advantages of to accomplish occlusion segmentation. Object tracking is handled by a particle filter-based tracking framework, and a probabilistic appearance model is used to find the best particle. Experiments are conducted using public challenging data set PETS 2009. Results show that our approach can improve the performance of the existing tracking approach and handle dynamic occlusions better.

关键词： Computer vision Image motion analysis Probabilistic logic Optical reflection Target tracking Optical filters Histograms

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Dynamic route guidance using maximum flow theory and its MapReduce implementation

Dynamic route guidance using maximum flow theory and its Map...

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International Conference on Intelligent Transportation

作者： Peijun Ye Cheng Chen Fenghua Zhu State Key Laboratory of Intelligent Control and Management of Complex Systems Institute of Automation Chinese Academy and Sciences Beijing China

Road traffic load balancing can avoid network congestion and improve traffic efficiency. This paper proposes a method of dynamic route guidance based on Maximum Flow Theory to balance traffic load of road network. A modified Ford-Fulkerson algorithm is used for searching the optimal route. In addition, the algorithm is implemented by using MapReduce primitives, which introduces Cloud Computing Platform for large-scale traffic network guidance. Computational experimental environment is built by integrating Artificial Transportation systems (ATS) and Hadoop. Results in ATS and performances on Hadoop show that the method proposed can improve the traffic situation effectively.

关键词： Roads Cloud computing Vehicle dynamics Computers Vehicles Heuristic algorithms

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A case study for traffic signal control system evaluation based on artificial transportation systems

A case study for traffic signal control system evaluation ba...

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

作者： Fenghua Zhu Zhenjiang Li State Key Laboratory for Intelligent Control and Management of Complex Systems Institute of Automation Chinese Academy and Sciences Beijing China

This paper proposes a novel method to evaluate Traffic Signal control System(TSCS) based on Artificial Transportation systems(ATS). Using this method, we can generate travel demand based on individual's activities and construct artificial traffic scenarios using basic rules. While interacting with ATS, TSCS can be evaluated by observing and analyzing the traffic status that emerged. The cost of the evaluation is decreased as artificial traffic environment can be constructed in the laboratory to substitute real environment and the evaluation can be carried out before the installation on site. Furthermore, as reasonable travel demand can be generated based on individual's activities, the reliability of evaluation results can be guaranteed. Finally, the effectiveness of this method is verified by experiments.

关键词： Business

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Recognizing vehicle-contours with a compositional deformable model

Recognizing vehicle-contours with a compositional deformable...

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IEEE International Conference on Vehicular Electronics and Safety (ICVES)

作者： Gu Yuan Fei-Yue Wang State Key Laboratory of Intelligent Control and Management of Complex Systems Institute of Automation Chinese Academy and Sciences Beijing China

This paper illustrates a compositional deformable model for detecting vehicle and recognizing vehicle-contours. To overcome the difficulties that vehicles in an image have various sizes, shapes, colors and poses, this model has two main characteristics: first, the model is made up of constituent parts which shared by vehicles. The locality of parts give the model the ability to recognize vehicles with different types (e.g., although vehicles have various sizes and shapes, they are usually composed by roof, windscreen, windows, etc.). Second, the spatial relationships of these parts are represented by Markov Random Field (MRF). The model is deformable to adapt to vehicles of different shapes and poses because of the appropriately changing of combinations of these parts in the MRF. Experimental results with real world images show that this method is effective in vehicle detection and vehicle-contours recognition.

关键词： Vehicles Bars Shape Image edge detection Adaptation models Computational modeling Deformable models

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A New Search Strategy of Radio Fingerprint Matching Method in Wireless Sensor Network

A New Search Strategy of Radio Fingerprint Matching Method i...

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International Conference on Robot, Vision and Signal Processing (RVSP)

作者： Hongchun Li Xiaoguang Zhao Min Tan Institute of Automation State Key Laboratory of Intelligent Control and Management of Complex Systems Chinese Academy of Sciences Beijing China

Radio fingerprint matching localization method promises high localization accuracy but requires extensive infrastructural effort and search operations. This paper proposes a new search strategy for radio fingerprint matching method, which sharply reduces search operations and shows little effect on localization accuracy. Indoor experiment is conducted to evaluate our method.

关键词： Wireless sensor networks Search problems Distance measurement Accuracy Radio propagation Computational modeling Receivers

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A novel image deblurring method based on high-order MRF prior

A novel image deblurring method based on high-order MRF prio...

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International Workshop on Advanced Computational Intelligence (IWACI)

作者： Bo Zhao Wensheng Zhang State Key Laboratory of Intelligent Control and Management of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 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 is an effective statistical framework to model prior knowledge of natural images which leads to excellent performance in some low-level vision problems. In our work, the framework is extended to image deblurring. To overcome some limitations of maximum a-posteriori (MAP) estimation, we adopt Bayesian minimum mean squared error (MMSE) estimation to perform deblurring. The high-order NLR-MRF prior can be easily integrated into this framework. Then, an efficient Gibbs sampling algorithm is employed to compute MMSE estimation. The proposed method frees the user from determining regularization parameter beforehand, which relies on unknown noise level. Our deblurring method shows superior or comparable results to the state-of-art deblurring methods.

关键词： Kernel Estimation Image restoration PSNR Filter banks Noise level

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Research on bus rapid transit (BRT) and its real-time scheduling

Research on bus rapid transit (BRT) and its real-time schedu...

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

作者： Xisong Dong Gang Xiong Dong Fan Fenghua Zhu Yisheng Lv State Key Laboratory of Intelligent Control and Management of Complex Systems Institute of Automation Chinese Academy and Sciences Beijing China

With the fast development of the economy, the urban traffic demands increases rapidly, Bus rapid transit (BRT) system, a new type and high efficient bus operator system and a comprehensive mass transit system between the metro and regular bus systems, can alleviate traffic congestion, reduce resident traffic cost effectively, and improve transportation quality and efficiency, with its advantages becomes an effective way to improve urban traffic status. In this article, the definition, major elements, advantages, functions and development of BRT are provided, and a new real-time scheduling is given which is going to be applied to the Zhongshan Avenue BRT system in Guangzhou China.

关键词： Optimization Rails Compounds Global Positioning System

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