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International Conference on Modelling, Identification and control (ICMIC)

作者： Rui Han Chunjing Tao Jian Huang Yongji Wang Heping Yan Lifang Ma Key Laboratory of Image Processing and Intelligent Control Huazhong University of Science and Technology Wuhan China R&D department of National Research Center for Rehabilitation Technical Aids Beijing China

ISBN: (纸本)9781479951055

An intelligent walking-aid robot is presented for walking assistance, training and rehabilitation of the elderly. The robot is intended to provide physical support and mobility aid for the old people during their walking based on recognizing their motion intentions online. A force measuring system comprised of force sensing resisters (FSRs) is designed to obtain the interaction forces between the user and the robot. The user's motion intention is then estimated by analyzing the relationship between the measured interaction forces and human intention force/torque. Further the estimated intention is used to guide the admittance based motion control of robot. To ensure a safe walking, a laser range finder (LRF) is used to detect the distance between the robot and the user's legs. A distance restraint control is also designed and taken into action when the distance is found beyond a safe threshold. Experiments were conducted and the results verified the effectiveness of the developed robot system and control methods.

关键词： Legged locomotion Robot sensing systems Force measurement Force Motion measurement Laser modes

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A robust CPD approach based on shape context

A robust CPD approach based on shape context

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Chinese control Conference (CCC)

作者： Yawen Yang Zhang Peng Peng Yu Qiao Jie Yang Sheng Zheng Wang The Key Laboratory of Ministry of Education for System Control and Information Processing Institute of Image Processing and Pattern Recognition Shanghai Jiao Tong University Shanghai CN Merchant Marine College Shanghai Maritime University Shanghai CN

Point matching is an important component of image registration. Recent years, Coherent Point Drift (CPD) method becomes a very popular point matching approach. CPD treats point matching as a probability estimation problem and speeds up the process of matching a lot. In this method, one set of points are thought to be sampled from a Gaussian Mixture Model (GMM), which is centered by the other set of points. However, CPD is sensitive to outliers and noises, especially when the noise ratio increased or the number of outliers gets much high. To deal with this problem, we introduce shape context into the step of searching for matching points and then improve the form of prior probabilities of GMM in this paper. The main idea of our method is that if the most points in a data set are likely to be matched to a particular centroid, this Gaussian component should be have a more influence to GMM. Therefore, we set prior probability of GMM with the similarity between GMM components and the data set. And the computation of similarity is based on shape context. The experiments on 2D and 3D images show that when noise ratio is low, our method performs as well as CPD does, but as the ratio increased, our method is more robust and satisfactory than CPD.

关键词： Noise Shape Testing Context Robustness Three-dimensional displays Marine animals

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Attractor flow analysis for recurrent neural network with back-to-back memristors

Attractor flow analysis for recurrent neural network with ba...

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IEEE Symposium on Foundations of Computational Intelligence, FOCI

作者： Gang Bao Zhigang Zeng School of Automation Huazhong University of Science and Technology Wuhan Hubei China Key Laboratory of Image Information Processing and Intelligent Control Ministry of Education Wuhan China college of Electrical Engineering and New Energy China Three Gorges University Yichang China

ISBN: (纸本)9781479944903

Memristor is a nonlinear resistor with the character of memory and is proved to be suitable for simulating synapse of neuron. This paper introduces two memristors in series with the same polarity (back-to-back) as simulator for neuron's synapse and presents the model of recurrent neural networks with such back-to-back memristors. By analysis techniques and fixed point theory, some sufficient conditions are obtained for recurrent neural network having single attractor flow and multiple attractors flow. At last, simulation with numeric examples is presented to illustrate our results.

关键词： Memristors Stability analysis Recurrent neural networks Resistance Numerical models

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Adaptive control for power and thermal management of an integrated 5kW solid oxide fuel cell system

Adaptive control for power and thermal management of an inte...

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第十五届全国氢能会议暨第7届两岸三地氢能研讨会

作者： Lin Zhang Jianhua Jiang Xi Li Huan Cheng Jie Yang Jian Li School of Automation Key Laboratory of Education Ministry for Image Processing and Intelligent ControlHuazhong University of Science & TechnologyWuhan430074China School of Materials Science and Engineering State Key Laboratory of Material Processing and Die and Mould TechnologyHuazhong University of Science and TechnologyWuhan 430074China

A 5-kW dynamic solid oxide fuel cell(SOFC)system with a second air bypass has been developed with a model to perform both steady-state and dynamic analysis in this *** identifies and addresses the control challenges a... 详细信息

关键词： Solid oxide fuel cell (SOFC) Optimal set-points Load transitions RBF network based direct adaptive controller

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The influencesof different gas flow types on solid oxide fuel cell stack temperature distribution

The influencesof different gas flow types on solid oxide fue...

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第十五届全国氢能会议暨第7届两岸三地氢能研讨会

作者： Huan Cheng Xi Li Jianhua Jiang Yali Liu Jian Li School of automation Key Laboratory of Education Ministry for Image Processing and Intelligent ControlHuazhong University of Science & TechnologyWuhan430074China School of Materials Science and Engineering State Key Laboratory of Material Processing and Die and Mould TechnologyHuazhong University of Science and TechnologyWuhan 430074China

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Shadow detection using regression tree fields with paired regions

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Journal of Computational information Systems 2013年第11期9卷 4309-4317页

作者： Tao, Wei Zhou, Yue Institute of Image Processing and Pattern Recognition Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Shanghai 200240 China

In this paper, we try to deal with the problem of shadow detection from static images and video sequences. In instead to considering individual regions separately, we use relative illumination conditions between segmented regions and perform pair-wise classification based on such information. We use Regression Tree Fields to solve the labeling of shadow and non-shadow regions. And we use continuous value to describe the possibility of the shadow of the region. We evaluate our method on static images and a series of video sequences. © 2013 by Binary information Press.

关键词： Classification (of information)

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An Activity-List based Nested Partitions algorithm for Resource-Constrained Project Scheduling

An Activity-List based Nested Partitions algorithm for Resou...

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World Congress on intelligent control and Automation (WCICA)

作者： Lei Xiao Jing Tian Zhenyuan Liu School of Automation Huazhong University of Science and Technology Wuhan Hubei Province China Key Laboratory of Education Ministry for Image Processing and Intelligent Control University of Science and Technology Wuhan Hubei Province China

In this paper, we propose an Activity-List based Nested Partitions algorithm for solving the Resource-Constrained Project Scheduling Problem(RCPSP). This algorithm is based on traditional Serial Scheduling scheme (SSS) and partitions the feasible solution space which is formulated by activity-lists into subregions by the nested partitions approach. We also utilize Double Justification as local search to improve the solutions. The algorithm is tested on J120 in PSPLIB with the result that the algorithm is relatively effective for solving large-scale, complex RCPSPs.

关键词： Partitioning algorithms Algorithm design and analysis Heuristic algorithms Job shop scheduling Educational institutions Processor scheduling

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An improved column generation algorithm for crew scheduling problems

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Journal of information and Computational Science 2013年第1期10卷 175-183页

作者： Chen, Shijun Shen, Yindong Image Processing and Intelligent Control Key Laboratory of Education Ministry Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan 430074 China

Column Generation (CG) technique is popularly applied in solving the crew scheduling problem of large size, which is generally modeled as an Integer Linear Programming (ILP) problem. The traditional CG algorithms for bus and rail crew scheduling encounter difficulties on either the generation of all potential shifts or solving subproblems. A subproblem embedded in the CG is generally represented as a Resource-constrained Shortest Path Problem (RCSPP), which is NP-hard and constitutes a major reason for the CG's slow convergence. This paper presents a novel CG strategy to improve the efficiency of the proposed crew scheduling approach. The main idea is that a reasonably large set of "good" potential shifts (called a shift-pool) is pre-compiled using problem-specific knowledge. During the CG process, the RCSPP is not constructed to generate potential shifts as new columns until no columns with Negative Reduced Cost (NRC) exist in the shift-pool. Experiments are carried out on a series of Chinese real-world problem instances, and the computational results show that the solving process is significantly accelerated. © 2013 by Binary information Press.

关键词： Integer programming

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Mean-risk analysis of radio frequency identification technology in supply chain with inventory misplacement: Risk-sharing and coordination

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Omega 2014年 46卷 86-103页

作者： Shuang Chen Hongwei Wang Yong Xie Chao Qi Key Laboratory of Image Processing and Intelligent Control Institute of Systems Engineering Huazhong University of Science & Technology Wuhan 430074 PR China Economic Research Centre Technical Economy and Consultation Department Guangdong Electric Power Design Institute Guangzhou 510663 PR China

This paper investigates the application of radio frequency identification (RFID) technology to eliminate the misplacement problems in the supply chain, which consists of a risk-neutral manufacturer and a risk-averse retailer. By considering both fixed cost and tag cost of RFID implementation, we study the agents' incentives to adopt RFID in both uncoordinated and coordinated cases. We focus on analyzing the impact of risk attitudes on the agents’ incentives and on the supply chain coordination. The central semi-deviation is adopted to measure the retailer's risk attitude. In the uncoordinated case, we find that, in order to induce the retailer to adopt RFID, the manufacturer must assume more fixed cost if the retailer is more risk-averse. In the coordinated case, we first show that the standard revenue sharing contract does not always coordinate the channel. If the channel is coordinated, we observe that the agents’ incentives will be perfectly aligned and independent of the risk attitudes, if the revenue sharing ratio equals the fixed cost sharing ratio. Then we propose a risk-sharing contract that offers the risk protection to the retailer, to achieve the channel coordination. An interesting finding is that the manufacturer's incentive will not decrease with the tag cost, if she takes much risk from the retailer. The corresponding impacts of RFID adoption on the two contracts are also analyzed in this paper. Finally, a case study in a tobacco industry is presented to show the real RFID cost in practice.

关键词： RFID radio frequency identification MV mean–variance CSD central semi-deviation SSD second-order stochastic dominance PDF probability density function CDF cumulative density function Radio frequency identification Inventory misplacement Central semi-deviation Risk-averse Risk sharing Coordination

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An Electronic Travel Aid based on multi-sensor fusion using extended Kalman filter

An Electronic Travel Aid based on multi-sensor fusion using ...

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World Congress on intelligent control and Automation (WCICA)

作者： Yanqi Lu Jian Huang Wenxia Xu Chunjing Tao Xitai Wang Key Laboratory of Ministry of Education for Image Processing and Intelligent Control Huazhong University of Science and Technology Wuhan China R&D department National Research Center for Rehabilitation Technical Aids Beijing China

Inspired by the indoor localization technology of mobile robots, a novel Electronic Travel Aids (ETA) is developed based on multi-sensor fusion using an extended Kalman filter (EKF). A wearable sensor system is designed to estimate the real-time posture of user's lower limb. This system can be used both for monitoring the user's walking status and for realizing the relative localization. A belt of multiple sonar sensors worn by the user can detect the obstacle of unknown environment. Simultaneously, this sonar belt can also be used as the absolute localization device in a similar way as the mobile robot. An EKF is applied to realize the data fusion of different sensor systems. The abilities of obstacle avoidance and indoor localization of the proposed ETA are both verified through experiments.

关键词： Acoustics Sensor systems Mercury (metals) Magnetic sensors Vectors Acceleration

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