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International Conference on Innovative engineering Systems

作者： Ahmed Khalifa Mohamed Fanni Ahmed Ramadan Ahmed Abo-Ismail Mechatronics and Robotics Engineering Dept. School of Innovative Design Engineering Egypt-Japan University of Science and Technology New Borg-El-Arab city Alexandria Egypt Prod. Eng. & Mechanical Design Dept. Faculty of Engineering Mansoura University Mansoura Egypt Computer & Automatic Control Dept. Faculty of Engineering Tanta University Tanta Egypt

ISBN: (纸本)9781467344401

This paper introduces a new quadrotor manipulation system that consists of a 2-link manipulator attached to the bottom of a quadrotor. This new system presents a solution for the drawbacks found in the current quadrotor manipulation system which uses a gripper fixed to a quadrotor. Unlike the current system, the proposed system enables the end-effector to achieve any arbitrary orientation and thus increases its degrees of freedom from 4 to 6. Also, it provides enough distance between the quadrotor and the object to be manipulated. This is useful in some applications such as demining applications. System kinematics and dynamics are derived which are highly nonlinear. controller is designed based on feedback linearization to track desired trajectories. controlling the movements in the horizontal directions is simplified by utilizing the derived nonholonmic constraints. Finally, the proposed system is simulated using MATLAB/SIMULINK program. The simulation results show the effectiveness of the proposed controller.

关键词： Aerial manipulation Quadrotor 2-link manipulator Feedback linearization Demining devices

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Fuzzy watershed algorithm: An enhanced algorithm for 2D gel electrophoresis image segmentation

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International Journal of Computer Science Issues 2012年第2 2-3期9卷 561-577页

作者： Rashwan, Shaheera Sarhan, Amany Faheem, Muhamed Talaat Youssef, Bayumy.A. Informatics Research Institute City for Science and Technology Borg ElArab Alexandria Egypt Computer science and Automatic Control Engineering Department Faculty of Engineeing University of Tanta Tanta Egypt EE dept-Faculty of Engineering Taif University Saudi Arabia

An important issue in the analysis of two-dimensional electrophoresis images is the detection and quantification of protein spots. The main challenges in the segmentation of 2DGE images are to separate overlapping protein spots correctly and to find the abundance of weak protein spots. To enable comparison of protein patterns between different samples, it is necessary to match the patterns so that homologous spots are identified. In this paper, we describe a new robust technique to segment and model the different spots present in the gels. The Watershed segmentation algorithm is modified to handle the problem of over segmentation by initially partitioning the image to mosaic regions using the composition of fuzzy relations. The experimental results showed the effectiveness of the proposed algorithm to overcome the over segmentation problem associated with the available algorithm. We also use a wavelet denoising function to enhance the quality of the segmented image. The parameters of the wavelet function are obtained using the Genetic Algorithm search technique. The results of using the denoising function before the proposed Fuzzy Watershed segmentation algorithm is very promising as they are better than those without denoising. © 2012 International Journal of Computer Science Issues.

关键词： Image segmentation

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CP-driven Modelling for Multi-modal Cyclic Transport Systems

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IFAC Proceedings Volumes 2012年第6期45卷 339-344页

作者： G. Bocewicz R. Wójcik Z. Banaszak Dept. of Computer Science and Management Koszalin University of Technology Sniadeckich 2 75-453 Koszalin Poland Institute of Computer Engineering Control and Robotics Wrocław University of Technology Wybrzeże Wyspiańskiego 27 50-370 Wrocław Poland Dept. of Business Informatics Warsaw University of Technology Narbutta 85 02-524 Warsaw Poland

This paper concerns the domain of the multimodal transportation systems composed of buses, trains, trams and subways lines and focuses on the scheduling problems encountered in these systems. Transportation Network Infrastructure (TNI) can be modeled as a network of lines providing cyclic routes for particular kinds of stream-like moving transportation means. Lines are connected by common shared change stations. Depending on TNI timetabling the time of the trip of passengers following different itineraries may dramatically differ, e.g. the same distances along the north-south, and east-west directions may require different travel time. So, the mine question regards of TNI schedulability, e.g. the guarantee the same distances in arbitrarily assumed directions will require approximate traveled time. Considered timetabling problem belongs to NP-hard ones. The declarative model of TNI enabling to formulate cyclic scheduling problem in terms of the constraint satisfaction one is our main contribution. At last, the simulated results manifest the promising properties of the proposed model.

关键词： cyclic scheduling multimodal transport system multimodal processes declarative modeling constraints programming

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Learning human reach-to-grasp strategies: Towards EMG-based control of robotic arm-hand systems

Learning human reach-to-grasp strategies: Towards EMG-based ...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Minas V. Liarokapis Panagiotis K. Artemiadis Pantelis T. Katsiaris Kostas J. Kyriakopoulos Elias S. Manolakos Control Systems Lab School of Mechanical Engineering National Technical University of Athens Athens Greece ASU Human-Oriented Robotics and Control (HORC) Lab School for Engineering of Matter Transport and Energy Ira A. Fulton Schools of Engineering Arizona State University Tempe AZ USA Dept. of Informatics & Telecommunications University of Athens (UOA) Greece

Reaching and grasping of objects in an everyday-life environment seems so simple for humans, though so complicated from an engineering point of view. Humans use a variety of strategies for reaching and grasping anything from the simplest to the most complicated objects, achieving high dexterity and efficiency. This seemingly simple process of reach-to-grasp relies on the complex coordination of the musculoskeletal system of the upper limbs. In this paper, we study the muscular co-activation patterns during a variety of reach-to-grasp motions, and we introduce a learning scheme that can discriminate between different strategies. This scheme can then classify reach-to-grasp strategies based on the muscular co-activations. We consider the arm and hand as a whole system, therefore we use surface ElectroMyoGraphic (sEMG) recordings from muscles of both the upper arm and the forearm. The proposed scheme is tested in extensive paradigms proving its efficiency, while it can be used as a switching mechanism for task-specific motion and force estimation models, improving EMG-based control of robotic arm-hand systems.

关键词： Electromyography Muscles Support vector machines Grasping Training Accuracy Humans

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Qualitative analysis results for arbitrarily switching positive systems

Qualitative analysis results for arbitrarily switching posit...

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作者： Pastravanu, Octavian Matcovschi, Mihaela-Hanako Voicu, Mihail Technical University Gh. Asachi of Iasi Dept. Automatic Control and Applied Informatics Romania

ISBN: (纸本)9783902661937

The paper improves the existing qualitative results on switched positive systems x(t) = Ajx(t) , j = 1,..., N , by using non-strict quasilinear inequalities of the form vT Aj rv T , r T AJ , v 0 ) and invoking the Perron-Frobenius eigenstructure for essentially nonnegative matrices. We prove that any solution to the quasilinear inequalities characterizes (by equivalence) a linear Lyapunov function, a contractive invariant set, and the initial growth/decrease rate with respect to a weighted 1-norm. We also identify the solution which, for a given switching system, ensures the linear Lyapunov function with the fastest decrease rate and the invariant set with the fastest contraction rate. © 2011 IFAC.

关键词： Lyapunov functions

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Multiobjective design of evolutionary hybrid neural networks

Multiobjective design of evolutionary hybrid neural networks

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2011 17th International Conference on Automation and Computing, ICAC 2011

作者： Ferariu, Lavinia Burlacu, Bogdan Dept. of Automatic Control and Applied Informatics Gheorghe Asachi Technical University of Iasi Iasi Romania

ISBN: (纸本)9781467300001

The paper presents a new approach to data-driven modeling. The models are flexibly configured in compliance with the neural network formalism, by accepting partially interconnected structures and various types of global and local neurons within each hidden neural layer. A simultaneous selection of convenient model structure and parameters is performed, making use of multiobjective graph genetic programming. For an efficient assessment of individuals, the authors suggest a new Pareto-ranking strategy, which permits a progressive combination between search and decision, tailored to handle objectives of different priorities. The experiments carried out for the identification of an industrial system show the capacity of the proposed approach to automatically build simple and precise models, whilst dealing with noisy data and poor aprioric information. © 2011 CACSUK.

关键词： Genetic programming

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Multiobjective genetic programming with adaptive clustering

Multiobjective genetic programming with adaptive clustering

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2011 IEEE 7th International Conference on Intelligent Computer Communication and Processing, ICCP 2011

作者： Ferariu, Lavinia Burlacu, Bogdan Dept. of Automatic Control and Applied Informatics Gheorghe Asachi Technical University of Iasi Iasi Romania

ISBN: (纸本)9781457714788

This paper presents a new approach meant to provide an automatic design of feed forward neural models by means of multiobjective graph genetic programming. The suggested algorithm can deal with partially interconnected neural architectures and various types of global and local neurons within each hidden neural layer. It concomitantly ensures the reduction of variables and the selection of convenient model structures and parameters, by working on a set of graph-based encrypted individuals built via genetic programming with the guarantee of phenotypic and genotypic validity. In order to provide a realistic assessment of the neural models, the optimization is carried out subject to multiple objectives of different priorities. In relation to this idea, the authors propose a new Pareto-ranking strategy, which progressively guides the search towards the preferred zones of the exploration space. The fitness assignment procedure monitors the phenotypic diversity of the best individuals, as well as the convergence speed of the algorithm, and exploits the resulted heuristics for performing a preliminary clustering of individuals. The experimental trials targeting the identification of an industrial system show the capacity of the suggested approach to automatically build simple and precise models, whilst dealing with noisy data and scarce a priori information. © 2011 IEEE.

关键词： Neural networks

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OSEK-based gateway algorithm for multi-domain CAN systems

OSEK-based gateway algorithm for multi-domain CAN systems

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2011 IEEE 7th International Conference on Intelligent Computer Communication and Processing, ICCP 2011

作者： BrǍescu, Florin CǍtǍlin Ferariu, Lavinia Nacu, Andrei Dept. of Automatic Control and Applied Informatics Gheorghe Asachi Technical University of Iasi Iasi Romania

ISBN: (纸本)9781457714788

The paper presents a new gateway algorithm designed for multi-domain controller Area Network (CAN) systems which require to exchange large amount of data between numerous CAN units. The approach is compliant with any hierarchical CAN based distributed architecture, being tailored to efficiently manage CAN domains interconnected by gateways. The communication topologies are encrypted as graphs, aiming a flexible further utilization, increased scalability and a reduce memory consumption. For every handled CAN message, the gateways are enabled to provide a dynamic determination of the fastest available path and to correct buses overloading by appropriate message routing. The gateway algorithm exploits the OSEK event driven scheduling algorithm with static priorities to handle the necessary communication tasks. As consequence, the proposed approach provides increased responsiveness, as well as a good traffic balance between the CAN domains, without the need of transmitting additional messages, as demonstrated on two study cases involving distributed architectures of different complexity orders. © 2011 IEEE.

关键词： Network architecture

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A gray gradient based fast training algorithm for face detection

A gray gradient based fast training algorithm for face detec...

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International Conference on Multimedia and Signal Processing

作者： Chen, Weimin Wang, Wei Xu, Dongxia Dept. of Automatic Control and Mechanical Engineering Kunming University Kunming China

ISBN: (纸本)9780769543567

This paper describes a fast and simple training method for face detection based on block gradient of the gray level. The gradient orientation is one of the most essential features to describe the image structure. In this paper, the detector is trained just by the positive samples from which the feature values accumulated are regarded as the values' weight to detect. The training set is of 50 faces simples. Each image is divided into three resolutions of 4×4, 8×8 and 16×16 to train the detector for different scales. While the detected value in low resolution is higher than the likelihood threshold, high resolution detector is used for a further detecting. Although the training framework is very simple, the correct detection rate is 91%.© 2011 IEEE.

关键词： Face recognition

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Pyramid-based multi-scale lbp features for face recognition

Pyramid-based multi-scale lbp features for face recognition

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International Conference on Multimedia and Signal Processing

作者： Wang, Wei Chen, Weimin Xu, Dongxia Dept. of Automatic Control and Mechanical Engineering Kunming University Kunming China

ISBN: (纸本)9780769543567

To efficiently extract local and global features in face description and recognition, a pyramid-based multi-scale LBP approach is proposed. Firstly, the face image pyramid is constructed through multi-scale analysis. Then the LBP operator is applied to each level of the image pyramid to extract facial features under various scales. Finally, all the extracted features are concatenated into an enhanced feature vector which is used as the face descriptor. Experimental results on ORL and FERET face databases show that the proposed LBP representation is highly efficient with good performance in face recognition and is robust to illumination, facial expression and position variation.© 2011 IEEE.

关键词： Face recognition

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