The true-fake detection of Chinese liquors can be considered as a one-class classification problem. Using only positive sample in training process brings about difficulties in determining the optimal parameters of one...
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ISBN:
(纸本)9781467384155
The true-fake detection of Chinese liquors can be considered as a one-class classification problem. Using only positive sample in training process brings about difficulties in determining the optimal parameters of one-class SVM and its kernel. And one-class SVM optimized with conventional grid search method has a low recognition rate of positive test samples. Hence, we proposed a new idea for recognition, namely boosting-based one-class SVM. Six different kinds of liquors were sampled by a self-designed electronic nose system. After the preprocessing and feature extraction of sample data, 18 groups of optimum parameters of one-class SVM were chosen from specified parameter range, each group was used to train a classifier with training algorithm. Then the true-fake decisions were made for test samples with boosting integration rules. Finally the recognition rates of Hongjinjiu and Lanjinjiu positive sample reached 95.24% and 100%, and the recognition rates of both positive and negative sample reached 97.04% and 94.83%, respectively.
We designed a portable electronic nose (e-nose) for rapid detection of Chinese liquors. The e-nose had an evaporation chamber wrapped with silicone heating band, which could vaporize the liquor samples in 1 minute. Th...
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ISBN:
(纸本)9781467384155
We designed a portable electronic nose (e-nose) for rapid detection of Chinese liquors. The e-nose had an evaporation chamber wrapped with silicone heating band, which could vaporize the liquor samples in 1 minute. The sequential sampling and clean-out lasted 100 seconds and 3 minutes, respectively. Hence, one fast detection process could be finished within 3 minutes without regard to clean-out. In order to acquire enough information from array's sampling curves for classification, we chose 60 features (including 6 features per sensor) according to the response curves, the derivative of the response curves and the relative change rate curves of conductivity. Then the dimension of features was reduced by principle component analysis (PCA). Finally, classification of Chinese liquors was performed using C-Support Vector Machine (C-SVM) and the classification rate was 96.7%.
The longitudinal and lateral dynamic characteristics of the elastic missile are analyzed in this paper. The aerodynamic force and moment and structure mode are calculated. The unsteady aerodynamics additional caused b...
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The longitudinal and lateral dynamic characteristics of the elastic missile are analyzed in this paper. The aerodynamic force and moment and structure mode are calculated. The unsteady aerodynamics additional caused by vibration is researched through simplified theory; the longitudinal and lateral rigid disturbance motion equations are established in term of the linear theory respectively. The elastic vibration dynamic response can be acquired after the unsteady aerodynamics loads additional are substituted to the disturbance motion equations as perturbation input. The outputs can provide raw data for stability analysis, precision analysis, control and guidance system design. The response of output shows that the longitudinal attitude angles and sideslip angle variation induced by elastic vibration will be very slight, but the variation of bank angle will be great, this result is matched with the experiment phenomenon.
This paper presents the integration of a soft robot with optical fiber based proximity sensor which is designed for beating heart tracking in minimally invasive surgery (MIS). This cable-driven soft robot, made of sil...
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ISBN:
(纸本)9781509033300
This paper presents the integration of a soft robot with optical fiber based proximity sensor which is designed for beating heart tracking in minimally invasive surgery (MIS). This cable-driven soft robot, made of silicone rubber, is low cost, lightweight, sterilizable and compatible for magnetic resonance (MR) environment. During non-contact and contact situation of robot manipulation, there is a phase where sensory information (force or image) is missing. Our proximity sensor system is designed to solve this problem. The proximity sensor, a 4-point sensor array, uses 4 pairs of emitter and receiver optical fibers to measure the light intensity of surrounding environment. The 4-point sensor array is mounted on the 10 mm diameter soft robot tip, with channels inside its body where cameras and surgical instruments could be integrated into. It is the first time using proximity sensor to control the motion of soft robot in beating heart surgery for the tracking task. A distance calibration model is built before the tracking experiment. Employing a position control method with gravity compensation, experiment is conducted and test results have shown the validity of our controller and system.
The online detection of end-effector motion states and wafer stick-slip on a wafer transfer robot is crucial in accessing the quality of trajectory planning and improving the performance of robotic control system. Thi...
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ISBN:
(纸本)9781509023974
The online detection of end-effector motion states and wafer stick-slip on a wafer transfer robot is crucial in accessing the quality of trajectory planning and improving the performance of robotic control system. This paper presents a new integrated system for detecting end-effector motion states (position and velocity) and wafer stick-slip on a wafer transfer robot. The system mainly contains a custom-built position-sensing-detector (PSD) camera, an inertial module and a tactile sensor. The end-effector position measurement is achieved by the PSD camera, and the end-effector velocity is estimated by using a kinematic Kalman filter (KKF). The KKF fuses the outputs from the PSD camera and the inertial sensor with a tri-axis accelerator and a tri-axis gyroscope. The wafer stick-slip detection is built on the measurements of the electromagnetic-based tactile sensor. The experimental results show that the integrated system is capable of measuring the position with a repeatability of ± 0.023mm along the X-axis and ± 0.017mm along the F-axis, remarkably improving the accuracy of velocity measurement, and online detecting wafer stick-slip on the wafer transfer robot.
An earthquake-forecasting attempt is presented in this work via combining the weights and structure policy (WASP) and addition-subtraction frequency (ASF) algorithms. Specifically, based on the application of three-la...
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ISBN:
(纸本)9781467384155
An earthquake-forecasting attempt is presented in this work via combining the weights and structure policy (WASP) and addition-subtraction frequency (ASF) algorithms. Specifically, based on the application of three-layer feedforward neuronets equipped with WASP algorithm, further using ASF algorithm, this work attempts to forecast a Japan earthquake with Mj 7.2 or above. Note that past earthquake dates are the only data used in this study. The feasibility and effectiveness of this attempt are verified via the numerical experiments with consistency analysis on obtained dates. Besides, according to the experimental results, an earthquake with Mj 7.2 or above may occur in August 2016 in Japan. Furthermore, with the highest possibility, the date of such an earthquake may occur is August 9, 2016.
Wireless networking in cyber-physical systems (CPSs) is characteristically different from traditional wireless systems due to the harsh radio frequency environment and applications that impose high real-time and relia...
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Joint mechanism is a key factor for a snake robot adjusting its postures adapted to clutter environments in search and rescue *** joint mechanisms in prior research simply consist of serially connected revolute joints...
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ISBN:
(纸本)9781509009107
Joint mechanism is a key factor for a snake robot adjusting its postures adapted to clutter environments in search and rescue *** joint mechanisms in prior research simply consist of serially connected revolute joints,which are lack of great load carrying *** nature snake structure,a modular bionic parallel joint mechanism(BPJM) is proposed for the rescue snake *** analysis of the BPJM is necessary for its optimal design and control,providing the force and constraint that must be resisted by joints,links and *** reduce the dynamics computation load,Newton equation and Euler equation are combined by synchronizing the inertial force and inertial moment with the aid of screw ***,the dynamics equations for moving platform and links are formulated in a simplified *** friction at the joints and external force acting on BPJM,which actually affect the motion,are both considered in the ***,the virtual prototype is provided in order to visualize the joint mechanism and the numerical results from the dynamics analysis are given.
This paper proposes a renewable-load matching approach for dispatching generation resources in power systems with high renewable power penetrations. In order to utilise the capability of renewable resources to follow ...
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Mapping in the dynamic environment is an important task for autonomous mobile robots due to the unavoidable changes in the workspace. In this paper, we propose a framework for RGBD SLAM in low dynamic environment, whi...
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Mapping in the dynamic environment is an important task for autonomous mobile robots due to the unavoidable changes in the workspace. In this paper, we propose a framework for RGBD SLAM in low dynamic environment, which can maintain a map keeping track of the latest environment. The main model describing the environment is a multi-session pose graph, which evolves over the multiple visits of the robot. The poses in the graph will be pruned when the 3D point scans corresponding to those poses are out of date. When the robot explores the new areas, its poses will be added to the graph. Thus the scans kept in the current graph will always give a map of the latest environment. The changes of the environment are detected by out-of-dated scans identification module through analyzing scans collected at different sessions. Besides, a redundant scans identification module is employed to further reduce the poses with redundant scans in order to keep the total number of poses in the graph with respect to the size of environment. In the experiments, the framework is first tuned and tested on data acquired by a Kinect from laboratory environment. Then the framework is applied to external dataset acquired by a Kinect II from a workspace of an industrial robot in another country, which is blind to the development phase, for further validation of the performance. After this two-step evaluation, the proposed framework is considered to be able to manage the map in date in dynamic or static environment with a noncumulative complexity and acceptable error level.
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