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

作者： Zhang, Rui Xiong, Gang Cheng, Changjian Shang, Xiuqin Ma, Yonghong Lu, Zichen Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing Peoples R China Chinese Acad Sci Inst Automat Beijing Engn Res Ctr Intelligent Syst & Technol Beijing Peoples R China Chinese Acad Sci Cloud Comp Ctr CASIA Dongguan Res Inst Dongguan Peoples R China Dongguan KAIN Elect Sci & Tech Co Ltd Dongguan Peoples R China

ISBN: (纸本)9781479905300;9781479905294

A general control system of two-wheel self-balanced robot usually has a complex structure due to plenty of sensors, whose price is very expensive. According to this condition, a control system with the stepper motor driver is proposed, eliminating the expensive components, like optical encoder and brushless DC motor. At the same time, the low-power and high-performance STM32, 32-bit microprocessor, is selected as a controller. Outputted pulse frequency is adjusted through the adjustment of STM32 timer prescaler value, which regulates the step motor speed. With inclination angle formed by the Kalman filter of the output signal of the accelerometer and gyroscope as feedback, self-balanced closed loop control of two-wheeled robot is realized.

关键词： Two-wheel robot Self-balanced STM32 Kalman Filter PID control Prescaler value

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A Hybrid Approach for Multiple Particle Tracking Microrheology

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INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC systems 2013年第2期10卷

作者： Xie, Liangjun Gu, Nong Cao, Zhiqiang Li, Dalong Schlumberger Ltd Houston TX 77056 USA Deakin Univ Ctr Intelligent Syst Res Waurn Ponds Australia Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing Peoples R China Hewlett Packard Corp Houston TX USA

Geometric object detection has many applications, such as in tracking. Particle tracking microrheology is a technique for studying mechanical properties by accurately tracking the motion of the immersed particles undergoing Brownian motion. Since particles are carried along by these random undulations of the medium, they can move in and out of the microscope's depth of focus, which results in halos (lower intensity). Two-point particle tracking microrheology (TPM) uses a threshold to find those particles with peak, which leads to the broken trajectory of the particles. The halos of those particles which are out of focus are circles and the centres can be accurately tracked in most cases. When the particles are sparse, TPM will lose certain useful information. Thus, it may cause inaccurate microrheology. An efficient algorithm to detect the centre of those particles will increase the accuracy of the Brownian motion. In this paper, a hybrid approach is proposed which combines the steps of TPM for particles in focus with a circle detection step using circular Hough transform for particles with halos. As a consequence, it not only detects more particles in each frame but also dramatically extends the trajectories with satisfactory accuracy. Experiments over a video microscope data set of polystyrene spheres suspended in water undergoing Brownian motion confirmed the efficiency of the algorithm.

关键词： Multiple Particle Tracking Microrheology Circular Hough Transform Circle Detection

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Improved Rao-Blackwellized Particle Filter by Particle Swarm Optimization

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JOURNAL OF APPLIED MATHEMATICS 2013年第unknown期2013卷 1-7页

作者： Zhao, Zeng-Shun Feng, Xiang Lin, Yan-yan Wei, Fang Wang, Shi-Ku Xiao, Tong-Lu Cao, Mao-Yong Hou, Zeng-Guang Tan, Min Shandong Univ Sci & Technol Coll Informat & Elect Engn Shandong Prov Key Lab Robot & Intelligent Technol Qingdao 266590 Peoples R China Shandong Univ Sch Control Sci & Engn Jinan 250061 Peoples R China Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100090 Peoples R China

The Rao-Blackwellized particle filter (RBPF) algorithm usually has better performance than the traditional particle filter (PF) by utilizing conditional dependency relationships between parts of the state variables to estimate. By doing so, RBPF could not only improve the estimation precision but also reduce the overall computational complexity. However, the computational burden is still too high for many real-time applications. To improve the efficiency of RBPF, the particle swarm optimization (PSO) is applied to drive all the particles to the regions where their likelihoods are high in the nonlinear area. So only a small number of particles are needed to participate in the required computation. The experimental results demonstrate that this novel algorithm is more efficient than the standard RBPF.

关键词： PARTICLE swarm optimization MONTE Carlo method ALGORITHMS state variables (Thermodynamics) MATHEMATICAL analysis MATHEMATICAL optimization THERMODYNAMICS

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On the achievable capacity of dual-polarized antenna systems in 3D indoor scenarios

On the achievable capacity of dual-polarized antenna systems...

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IEEE International Conference on Communications in China (ICCC)

作者： Fengxiang Wang Xiang Cheng Liuqing Yang Bo Yu Bingli Jiao School of Electronics Engineering & Computer Science Peking University Beijing China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Department of Electrical and Computer Engineering Colorado State University Fort Collins CO USA

Unlike triple-polarized antennas, dual-polarized antennas can be easily implemented into thickness limited devices and thus have received much attention recently. Dual-polarized antennas have the potential to double the channel capacity in comparison with an omnidirectional single-input single-output (SISO) system. However, in real three-dimensional (3D) scenarios, dual-polarized antennas cannot capture the arriving power from the third polarization direction, which is orthogonal to the two-dimensional (2D) polarization plane. This will lead to power loss, which may significantly affect the resultant channel capacity. By proposing a novel two-sphere single-bounced geometry-based stochastic model (GBSM) and rigorously analyzing the change of polarization after single-bounced scattering, this paper studies the impact of the power loss on the channel capacity and specifies the conditions under which the channel capacity of dual-polarized systems is even worse than that of omnidirectional SISO systems. Not only that this is the first endeavor on this subject, but also this work is of practical importance in guiding appropriate deployment of dual-polarized antennas in real 3D indoor scenarios.

关键词： Three-dimensional displays Antennas Channel capacity Vectors Signal to noise ratio Correlation Azimuth

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Learning Representative Features for Robot Topological Localization Regular Paper

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INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC systems 2013年第4期10卷

作者： Zhao, Zeng-Shun Feng, Xiang Wei, Fang Lin, Yan-Yan Li, Yi-Bin Hou, Zeng-Guang Tan, Min Shandong Univ Sch Control Sci & Engn Jinan 250100 Peoples R China Shandong Univ Sch Control Sci & Engn Jinan 250100 Peoples R China Shandong Univ Sci & Technol Coll Informat & Elect Engn Qingdao Peoples R China Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing Peoples R China

This paper proposes a new method for mobile robots to recognize places with the use of a single camera and natural landmarks. In the learning stage, the robot is manually guided along a path. Video sequences are captured with a front-facing camera. To reduce the perceptual alias of visual features, which are easily confused, we propose a modified visual feature descriptor which combines the dominant hue colour information with the local texture. A Location Features Vocabulary Model (LVFM) is established for each individual location using an unsupervised learning algorithm. During the course of travelling, the robot employs each detected interest point to vote for the most likely place. The spatial relationships between the locations, modelled by the Hidden Markov Model (HMM), are exploited to increase the robustness of location recognition in cases of dynamic change or visual similarity. The proposed descriptors are compared with several state-of-the-art descriptors including SIFT, colour SIFT, GLOH and SURF. Experiments show that both the LVFM based on the dominant Hue-SIFT feature and the spatial relationships between the locations contribute considerably to the high recognition rate.

关键词： Vision-Based Localization Hidden Markov Model Invariant Feature Competitive Learning

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Optimizing Traffic Signal control System Based on Parallel Transportation management systems

Optimizing Traffic Signal Control System Based on Parallel T...

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

作者： Zhu, Fenghua Yu, Zhongdong Chen, Songhang Xie, Haitao Li, Zhenjiang Xiong, Gang Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100080 Peoples R China Guangzhou Commun Informat Construct Investment & Guangzhou 510620 Guangdong Peoples R China Chinese Acad Sci Inst Automat Beijing Engn Res Ctr Intelligent Syst & Technol Beijing 100190 Peoples R China Chinese Acad Sci Dongguan Res Inst CASIA Cloud Comp Ctr 1 Dongguan 523808 Peoples R China

ISBN: (纸本)9781479905300;9781479905294

On the basis of the introduction of related concepts and theories, analyze the construction process of parallel transportation system and its application in traffic signal control system. The parallel transportation system of Tailiu road is established and applied in the estimation of effectiveness, the selection of control plan, and the development trend forecast in the project of rebuilding traffic signal control system on Tailiu road. It is shown that our methods are effective in practice.

关键词： traffic signal control system parallel system computational experiment evaluation

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The Design of Boost Circuit in Small Wind Generation System

The Design of Boost Circuit in Small Wind Generation System

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

作者： Chen, Yaran Xiong, Gang Li, Wenqiang Qian, Jiani Hu, Bo Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing Peoples R China Chinese Acad Sci Cloud Comp Ctr Dongguan Res Inst CASIA Dongguan Peoples R China Chinese Acad Sci Beijing Engn Res Ctr Intelligent Syst Beijing Peoples R China Chinese Acad Sci Beijing Engn Res Ctr Intelligent Syst Beijing Peoples R China Harbin Engn Univ Harbin Peoples R China

ISBN: (纸本)9781479905300;9781479905294

This paper presents an effective solution to track the maximum power and improve the security of small scale wind power system, aiming to optimize the efficiency of wind energy conversion and connecting wind generators to the electrical grid. The controller of the generation system used Perturbation Method of duty cycle to facilitate the construction of control algorithm, and improved its robustness. Due to the complexity of the wind turbine operating environments. The effectiveness of the proposed control method is evaluated through simulation tests performed in MATlab/SIMULINK. The article presents a controller which uses an ARM and also designed the boost circuit, measure circuit, processes circuit, as well as drive circuit. The results obtained demonstrate the effectiveness of the proposed control functionalities, which can be said that the design of boost circuit is reasonable.

关键词： small scale wind power generation MPPT limiting voltage

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A Random Walk Model for Item Recommendation in Social Tagging systems

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ACM TRANSACTIONS ON management INFORMATION systems 2013年第2期4卷 8-8页

作者： Zhang, Zhu Zeng, Daniel D. Abbasi, Ahmed Peng, Jing Zheng, Xiaolong Chinese Acad Sci State Key Lab Management & Control Complex Syst Inst Automat Beijing Peoples R China Univ Arizona Dept Management Informat Syst Tucson AZ 85721 USA Univ Virginia McIntire Sch Commerce Charlottesville VA 22903 USA Univ Penn Dept OPIM Philadelphia PA 19104 USA

Social tagging, as a novel approach to information organization and discovery, has been widely adopted in many Web 2.0 applications. Tags contributed by users to annotate a variety of Web resources or items provide a new type of information that can be exploited by recommender systems. Nevertheless, the sparsity of the ternary interaction data among users, items, and tags limits the performance of tag-based recommendation algorithms. In this article, we propose to deal with the sparsity problem in social tagging by applying random walks on ternary interaction graphs to explore transitive associations between users and items. The transitive associations in this article refer to the path of the link between any two nodes whose length is greater than one. Taking advantage of these transitive associations can allow more accurate measurement of the relevance between two entities (e.g., user-item, user-user, and item-item). A PageRank-like algorithm has been developed to explore these transitive associations by spreading users' preferences on an item similarity graph and spreading items' influences on a user similarity graph. Empirical evaluation on three real-world datasets demonstrates that our approach can effectively alleviate the sparsity problem and improve the quality of item recommendation.

关键词： Recommender systems random walk sparsity social tagging

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A dynamic user adaptive combination strategy for hybrid movie recommendation

A dynamic user adaptive combination strategy for hybrid movi...

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2012 IEEE International Conference on Service Operations and Logistics, and Informatics, SOLI 2012

作者： Chen, Cai Zeng, Daniel State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Science China

ISBN: (纸本)9781467324007

Movie recommendation is a very popular service in internet based movie related websites such as NetFlix, MovieLens. The performance of the recommendation plays the key role in the user experience. Existing works have shown that combining content based and collaborative filtering based algorithms is the best way for movie recommendation. Nevertheless, the performance of this hybrid algorithm is strongly depended on the strategy how to combine the basic pure algorithms. Existing works usually use a static combination strategy which may generate even worse performance for some users. To solve this problems, in this paper we propose a new item based hybrid algorithm that uses a dynamic user adaptive combination strategy. Besides, we also exploit the external open resources IMDB as the movie content data. Experiments on real datasets show that the dynamic user adaptive combination strategy can significantly enhance the performance of the recommendation and the external open resource IMDB is a very good information resource for recommendation. © 2012 IEEE.

关键词： Collaborative filtering

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Design and Implementation of an Emergency Traffic Evacuation management Platform for Urban Areas Based on Eclipse RCP

Design and Implementation of an Emergency Traffic Evacuation...

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IEEE International Conference on Vehicular Electronics and Safety (ICVES)

作者： Kang, Wenwen Zhu, Fenghua Lv, Yisheng Xiong, Gang Xie, Li Xi, Bin Chinese Acad Sci CASIA Cloud Comp Ctr Dongguan Res Inst Dongguan Peoples R China Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing Peoples R China Chinese Acad Sci Inst Automat Beijing Engn Res Ctr Intelligent Syst & Technol Beijing Peoples R China Zhejiang Univ Dept Informat Sci & Elect Hangzhou Zhejiang Peoples R China Xiamen Univ Sch Informat Sci & Technol Xiamen Peoples R China

ISBN: (纸本)9781479903801

An Emergency Traffic Evacuation management Platform is developed in this paper to support evacuation planning and decision making for city managers. The platform is based on Eclipse RCP, a programming framework kept updating by the Eclipse RCP open source project. Architecture design and implementation of the platform are mainly discussed. Modularization is the basic idea when building the platform. At the last of the paper, we suppose that a sudden disaster has happened somewhere in Hangzhou and the platform is used to manage the evacuation planning. Experiments show that evacuation time increases linearly with the amount of evacuation demand in a certain range, and we draw the conclusion that balanced improvements on the whole road network should be made instead of only on the "bottlenecks".

关键词： Emergency Evacuation management Heuristic Route Selection Eclipse RCP

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