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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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A performance appraisal method based on ACP theory and PageRank algorithm

A performance appraisal method based on ACP theory and PageR...

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

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

It is important for a chemical plant to find a suitable performance appraisal method. In this paper, based on the ACP (artificial system, computational experiment, and parallel execution) theory and the PageRank algorithm, a new performance appraisal method is proposed. The proposed method comprehensively involves both peoples and routine management rules from the holistic viewpoint. By comparison with the traditional performance appraisal method, the proposed method is more reasonable, more flexible and robuster.

关键词： Appraisal

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Computational experiments GPU-based for longterm safety operation of chemical industry

Computational experiments GPU-based for longterm safety oper...

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

作者： Xiaochao Lang Dalei Guo State Key Laboratory of Intelligent Control and Management of Complex Systems Institute of Automation Chinese Academy and Sciences Beijing China

Chemical industry is complex and continuous process industry, and the control and management of the long-term safe operation involves a great deal of information and data on the staffs, management, equipment and technology. Consequently, making real-time assessment for the control and management by computational experiment is important for the long-term of safety operation of chemical industry. As the requirement for high-performance computing in large-scale complex systems, traditional CPU computing can not meet the needs of large-scale computing. Because of the high speed and rapid development features, GPU was widely applied to scientific computation, which is suitable for large-scale intensive computation. This paper carried on specific computation experiments using GPU parallel computing, and designed and analyzed matrix inversion, fuzzy logic computation and Monte Carlo computation respectively for staff management and equipment simulation. Finally, compared to CPU serial computing, the maximum speedup ratio, 34, 85 and 39 times of speedup ratio are achieved.

关键词： Graphics processing unit Computational modeling Instruction sets MATLAB Programming Mathematical model Analytical models

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

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

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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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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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A vision system with multiple cameras designed for humanoid robots to play table tennis

A vision system with multiple cameras designed for humanoid ...

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IEEE International Conference on automation Science and Engineering (CASE)

作者： Ping Yang De Xu Zhengtao Zhang Guodong Chen Min Tan State Key Laboratory of Intelligent Control and Management of Complex Systems Institute of Automation Chinese Academy of Sciences (CAS) Beijing China State Key Laboratory of Intelligent Control and Management of Complex Systems Chinese Academy of Sciences Beijing P.R.C.

Two humanoid robots are used to play table tennis with each other. For each humanoid robot, three cameras and a computer are equipped to form a stereovision system and a monocular vision system. The stereovision system consisting of two smart cameras and a computer measures the 3-dimensional position of the table tennis ball. It adopts parallel processing mode in order to realize hundred frames level measurement per second. A high-speed digital camera and the computer compose the monocular vision system, which measures the pose of the robot relative to the table via a color mark attached on the robot. The two smart cameras in each stereovision system are synchronized via I/O signals. The vision systems for the two robots are synchronized by time verification. Experimental results verify the effectiveness of the designed vision system and the proposed methods.

关键词： Cameras Computers Robot vision systems Smart cameras Robot kinematics Trajectory

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Motion vehicles tracking in intelligent transportation visual surveillance systems

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Nanjing Li Gong Daxue Xuebao/Journal of Nanjing University of Science and Technology 2012年第SUPPL.2期36卷 216-222页

作者： Wu, Lin-Feng Xiong, Gang Qian, Shou-Yi Xie, Li Zhejiang Provincial Key Lab. of Information Network Technology Department of Information Science and Electronic Engineering Zhejiang University Hangzhou 310027 China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China Cloud Computing Industrial Technology Innovation and Incubation Center Dongguan Research Institute of CASIA Chinese Academy of Sciences Dongguan 523808 China Wenzhou Research Institute of Electronics and Information Wenzhou 325003 China

In terms of the difficulty of vehicle tracking in complex environment of the visual surveillance system, an object tracking algorithm is proposed for the applications in practical visual surveillance systems for intelligent traffic. A block-based Gaussian mixture background modeling method for object detection is presented to reduce the computational complexity of moving vehicle object abstraction. An adaptive tracking algorithm fused with color features and texture features is described to better adapt the traffic scene variation. The experimental results show that the proposed algorithm can effectively deal with the complex urban traffic conditions and the tracking performance is better than the conventional particle filter method and single feature based non-adaptive object tracking method.

关键词： Tracking (position)

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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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