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International Symposium on Applied Machine Intelligence and Informatics (SAMI)

作者： Dong-Hwa Kim Péter Baranyi Department of Instrumentation and Control Engineering Hanbat National University Daejeon South Korea Head of Cognitive Informatics research group involved in the System and Control Laboratory Computer and Automation Research Institute (MTA-SZTAKI) Hungarian Academy of Sciences Hungary

This paper proposes the novel emotion dynamic equation for emotion implementation like human's emotion. Almost general method use artificial approach such as neutral networks to classify emotion by using speech and face image data for human's emotion recognition. But high-dimension and large size of this data cause low-speed learning in robot system. The main idea of the proposed dynamic equation method is to dynamically express emotion by multi-agent function.

关键词： Robot sensing systems Humans Dynamics Face Equations

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An on-board pan-tilt controller for ground target tracking systems

An on-board pan-tilt controller for ground target tracking s...

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IEEE Conference on control Technology and Applications (CCTA)

作者： Zhekui Xin Yongchun Fang Bin Xian Beijing AeroSpace Automatic Control Institute China Institute of Robotics and Information Automatic System Nankai University Tianjin China Tianjin Key Laboratory of Process Measurement and Control School of Electrical Engineering and Automation Tianjin University Tianjin China

For a ground target tracking system using an unmanned helicopter, an on-board pan-tilt controller is proposed to adjust the attitude of the camera, so that to keep the target staying at the center of the image plane when the target is in sight. When the target is temporarily out of view due to various reasons, the designed controller will make the camera quickly re-capture the target by estimating its state and then regulating the orientation of the camera correspondingly. Specifically, a novel state transformation is firstly introduced to make the error system independent of the target image. Subsequently, a nonlinear pan-tilt controller is designed for the transformed error system. Lyapunov techniques are then employed to prove that the target tracking error in the image plane is driven to zero exponentially fast. To facilitate the implementation of the constructed controller, a visual estimator is also utilized to obtain the state information of the target even if it is occasionally out of the view of the camera by introducing an effective nonlinear filter. Simulation results are provided to validate the performance of the presented control system.

关键词： Target tracking Cameras Helicopters Jacobian matrices Visualization Robot vision systems

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Piecewise Affine Model Approximation for Unmanned Bicycle

Piecewise Affine Model Approximation for Unmanned Bicycle

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SICE Annual Conference

作者： Sompol Suntharasantic Prachya Rungtweesuk Manop Wongsaisuwan Control System Research Laboratory Department of Electrical Engineering Chulalongkorn University

ISBN: (纸本)9781457707148

This paper presents the methods of how to approximate the nonlinear dynamic system into the Piecewise affine state-space model and an application to controller synthesis based on Piecewise Quadratic stability criterion. Apart from linearization technique, three other methods based on minimizing least-square error have been observed. The average of root mean square error in each affine region is considered as a model selection criteria. controller design using this approximated PWA model is made through Piecewise Quadratic as an LMI problem. These controller gains are finally simulated in the original nonlinear model comparing with the approximated PWA model to verify its validity. The unmanned bicycle with gyroscopic flywheel is selected to illustrate the whole idea in this paper.

关键词： Piecewise affine systems Least-square error Linear approximation Unmanned bicycle

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Voxel based treatment prediction using diffusion anisotropy indices and spatial information in Glioblastoma Multiform tumor

Voxel based treatment prediction using diffusion anisotropy ...

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2011 18th Iranian Conference of Biomedical engineering, ICBME 2011

作者： Sabahi, Hadi Soltanian-Zadeh, Hamid Scarpace, Lisa Mikkelsen, Tom Control and Intelligent Processing Center of Excellence School of Electrical and Computer Engineering University of Tehran Tehran 14395-515 Iran Image Analysis Laboratory Radiology Department Henry Ford Hospital Detroit MI 48202 United States Hermelin Brain Tumor Research Center Neurosurgery Department Henry Ford Health System Detroit MI 48202 United States

ISBN: (纸本)9781467310055

In this paper, we propose a method to predict the outcome of Bevacizumab therapy on Glioblastoma Multiform (GBM) tumors. The method uses diffusion anisotropy indices (DAI) and spatial information to predict the treatment response of each tumor voxel. These DAIs are Fractional Anisotropy, Mean Diffusivity, Relative Anisotropy, and Volume Ratio, extracted from Diffusion Tensor Imaging (DTI) data before treatment. The spatial information is considered as the distance of each tumor voxel from the tumor center, extracted from pre-treatment post-contrast T1-weighted Magnetic Resonance Images (pc-T1-MRI). DAIs and spatial information of each tumor voxel are considered as feature vector. DTI and pc-T1-MRI are gathered before and after the treatment of seven GBM patients. First, DAIs of all brain voxels and the distance of each tumor voxel from the tumor center are calculated. Second, the method registers pre-treatment DAI maps and post-treatment pc-T1-MRI to pre-treatment pc-T1-MRI. Next, the tumor is segmented using thresholding technique from pc-T1-MRI. Then, Gd-enhanced voxels of the pre- and post-treatment pc-T1-MRI are compared to label the feature vectors. Three classifiers were evaluated, including Support Vector Machine, K-Nearest Neighbor, and Artificial Neural Network. Classification results show a preference for K-Nearest Neighbor based on well-established performance measures. © 2011 IEEE.

关键词： Tumors

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A New Force Feedback for Steer-by-Wire Vehicles via Virtual Vehicle Concept

A New Force Feedback for Steer-by-Wire Vehicles via Virtual ...

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IEEE Conference on Decision and control

作者： Emad Mehdizadeh Mansour Kabganian Reza Kazemi System Dynamics and Control Research Laboratory Department of Mechanical Engineering Amirkabir University of Technology Tehran 15914 Iran Department of Mechanical Engineering K. N. Toosi University of Technology Tehran 19697 Iran

ISBN: (纸本)9781612848006

Creating reasonable steering feel is an underlying issue in Steer-by-Wire (SbW) vehicles especially when a lanekeeping assistance system functions along with the driver. In order for the artificial force feedback to be familiar to driver, as it is shown in this paper, it must not be built based upon the real roadwheels reaction torque simply because this torque could involve the contribution of lanekeeping controller. If this contribution is fed back to driver, they might perceive the force feedback as unnatural behavior and provoke unanticipated rushed reactions which may, in turn, destabilize the car. As opposed to current methods, that seek to estimate the real reaction torque at the roadwheels, a reference model as the virtual vehicle is employed here to produce a force feedback that corresponds closely to conventional steering systems. Not only does the new force feedback feel like a conventional system which is indeed familiar to the driver, it improves performance of lanekeeping system in comparison with current methods and actually gives the maximum performance as if there is no force feedback system. Simulations are carried out to evaluate the performance of current and proposed force feedback systems.

关键词： force feedback reaction torque vehicle Feedback

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Some Advanced Techniques in Reducing Time for Path Planning Based on Visibility Graph

Some Advanced Techniques in Reducing Time for Path Planning ...

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International Conference on Knowledge and systems engineering (KSE)

作者： Tran Thi Nhu Nguyet Tran Van Hoai Nguyen Anh Thi Faculty of Computer Science and Engineering Ho Chi Minh City University of Technology Ho Chi Minh Vietnam Key Laboratory on Digital Control and System Engineering (DCSE) VNU-HCM Ho Chi Minh Vietnam

This paper describes some techniques based on polygon aggregation in reducing time for visibility graph in case of many obstacles. In path planning, the approaches are commonly used such as search-based, sampling-based or combinatorial planning. And visibility graph is one of the roadmaps of combinatorial planning. Building a visibility graph is a main phase in the whole process and theoretically it takes θ(nlogn). However, with some practical applications, for example one which has a large number of obstacles, this phase is very time-consuming. With the techniques proposed, the experiment result shows that the computing time gets a reduction factor of one-third approximately when the aggregation are used in preprocessing of building visibility graph.

关键词： Path planning Planning Clustering algorithms Complexity theory Educational institutions Robots Merging

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Multi-objective optimization of vehicle passive suspension with a two-terminal mass using Chebyshev goal programming

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World Academy of Science, engineering and Technology 2011年 76卷 633-638页

作者： Li, Chuan Liang, Ming Yu, Qibing Chongqing Technology and Business University China Department of Mechanical Engineering University of Ottawa Ottawa K1N 6N5 Canada Engineering Laboratory for Detection Control and Integrated System Chongqing Technology and Business University Chongqing 400067 China

To improve the dynamics response of the vehicle passive suspension, a two-terminal mass is suggested to connect in parallel with the suspension strut. Three performance criteria, tire grip, ride comfort and suspension deflection, are taken into consideration to optimize the suspension parameters. However, the three criteria are conflicting and non-commensurable. For this reason, the Chebyshev goal programming method is applied to find the best tradeoff among the three objectives. A simulation case is presented to describe the multi-objective optimization procedure. For comparison, the Chebyshev method is also employed to optimize the design of a conventional passive suspension. The effectiveness of the proposed design method has been clearly demonstrated by the result. It is also shown that the suspension with a two-terminal mass in parallel has better performance in terms of the three objectives.

关键词： Magnetic levitation vehicles

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Dynamic experimental study on leachate treatment by process integration

Dynamic experimental study on leachate treatment by process ...

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2nd Annual Conference on Electrical and control engineering, ICECE 2011

作者： Wang, Min Gao, Hui Key Laboratory of Urban Stormwater System and Water Environment Ministry of Education Beijing China Department of Power Engineering School of Mechanical and Electronic Control Ngineering Beijing Jiaotong University Beijing China

ISBN: (纸本)9781424481637

In view of the actual processing conditions of leachate treatment of the Inner Mongolia's municipal solid wastes plant, the paper studies new leachate treatment process integration, in order to reduce cost, improve leachate's overall biodegradability, remove high concentration organic contaminants and ammonia-N. The experiment device of the process integration include: electro-coagulation H2O2 process, plain sedimentation process, activated sludge process and catalytic electrolysis process, and the COD and NH3-N concentration of the effluent of plain sedimentation and catalytic electrolysis at different times are monitored. According to the dynamic experiments, it was concluded that the designed process integration is feasible to treat the leachate of the Inner Mongolia's municipal solid wastes plant. The COD and NH3-N concentration of the effluent of the process integration is 30mg/L, 25mg/L respectively, under the concentration limit of the Solid Waste Landfill Pollution control Standard. The total operating cost of the process integration was 5.531 yuan/t, including energy consumption, iron consumption, pharmacy dosing expenses, electrode fee was not included. © 2011 IEEE.

关键词： Leachate treatment

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Sport Video Classification Using an Ensemble Classifier

Sport Video Classification Using an Ensemble Classifier

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Iranian Machine Vision and Image Processing (MVIP)

作者： Mohamad Hoseyn Sigari Samaneh Abbasi Sureshjani Hamid Soltanian-Zadeh Control & Intelligent Processing Center of Excellence (CIPCE) School of Electrical & Computer Engineering College of Engineering University of Tehran Tehran Iran Image Analysis Laboratory Department of Radiology Henry Ford Health System Detroit MI USA

Sport video classification is an application of video analysis which can be useful in video indexing and retrieval. In this article, a new method for sport video classification using ensemble classifier is proposed. The proposed method uses 6 features: 3 dominant colors, dominant gray level, cut rate and motion rate. These features are classified by 4 simple classifiers in an ensemble classifier: Nearest Neighbor (NN), Linear Discriminant Analysis (LDA), Decision Tree (DT) and Probabilistic Neural Network (PNN). To combine the output of simple classifiers and make final decision, weighted majority vote is used while the weight of each simple classifier is equal to corresponding correct classification rate (CCR). Experimental result shows that the CCR of proposed system is 78.8%. In this experiment, 104 clips in 7 different sport classes are used: football, basketball, tennis, swimming, futsal, ski and box.

关键词： Feature extraction Color Image color analysis Classification algorithms Accuracy Artificial neural networks Histograms

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Dynamic Anti-windup Design in Anticipation of Actuator Saturation

Dynamic Anti-windup Design in Anticipation of Actuator Satur...

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2011 American control Conference (ACC)

作者： Xiongjun Wu Zongli Lin Department of Automation and Key Laboratory of System Control and Information Processing of Ministry of Education Shanghai Jiaotong University Shanghai China Department of Electrical and Computer Engineering University of Virginia Charlottesville VA USA

In a traditional anti-windup design, the anti-windup mechanism is set to be activated as soon as the control signal saturates the actuator. A recent innovation of delaying the activation of the anti-windup mechanism, both static and dynamic, until the saturation reaches to a certain level of severity has led to a performance improvement of the resulting closed-loop system. More recently, it has been shown that significant further performance improvements can be obtained by activating a static anti-windup mechanism in anticipation of actuator saturation, in comparison with the delayed activation design. This paper demonstrates that anticipatory activation of a dynamic anti-windup mechanism would also lead to significant performance improvements over both the immediate and delayed activation schemes.

关键词： Actuators Windup Linear matrix inequalities Simulation Automation Symmetric matrices

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