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2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)最新文献

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Estimation of DNA persistence length with atomic force microscopy imaging 用原子力显微镜成像估计DNA持续长度
2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2016-11-01 DOI: 10.1109/ICARCV.2016.7838753
P. I. Chang, Yi-Ying Song, M. Hsaio
{"title":"Estimation of DNA persistence length with atomic force microscopy imaging","authors":"P. I. Chang, Yi-Ying Song, M. Hsaio","doi":"10.1109/ICARCV.2016.7838753","DOIUrl":"https://doi.org/10.1109/ICARCV.2016.7838753","url":null,"abstract":"Atomic Force Microscopy (AFM) captures Nano-scale resolution biopolymers with relative ease, and has been used to image many string-like biopolymer samples such as DNA. This research proposes a standard method to calculate the persistence length(s) of DNA samples, imaged by AFM. Both simulated DNA through Worm-Like Chain (WLC) modeling and DNA images scanned from actual AFM systems are used to demonstrate the efficacy of this method. Where both the estimate DNA contour length and turning angles of the biopolymer are based on digitized images, showing high correlation results through statistical analysis.","PeriodicalId":128828,"journal":{"name":"2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122816539","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
A new distributed algorithm of clock synchronization for static sensor networks 静态传感器网络时钟同步分布式新算法
2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2016-11-01 DOI: 10.1109/ICARCV.2016.7838758
Yong Qiao, Wenlun Yang, M. Fu
{"title":"A new distributed algorithm of clock synchronization for static sensor networks","authors":"Yong Qiao, Wenlun Yang, M. Fu","doi":"10.1109/ICARCV.2016.7838758","DOIUrl":"https://doi.org/10.1109/ICARCV.2016.7838758","url":null,"abstract":"In this paper, a new distributed algorithm is presented to achieve the consensus of time variations and that of initial time simultaneously. By combining both controller and estimator design methods, it obtains higher synchronization precision with stronger robustness against noisy inputs resulted from crystal oscillators. Furthermore, the control input is ensured bounded to make our algorithm realizable in practical implementation. The implementation of the algorithm allows the receiving end to be event-triggered, while the transmitting end is executed periodically. The performance of the algorithm is illustrated by the given numerical simulations.","PeriodicalId":128828,"journal":{"name":"2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114385248","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Adaptive output tracking of switched nonlinear systems with unmodeled dynamics 具有未建模动力学的切换非线性系统的自适应输出跟踪
2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2016-11-01 DOI: 10.1109/ICARCV.2016.7838730
Zehua Wang, Jie Lian, Dong Wang, Wei Wang
{"title":"Adaptive output tracking of switched nonlinear systems with unmodeled dynamics","authors":"Zehua Wang, Jie Lian, Dong Wang, Wei Wang","doi":"10.1109/ICARCV.2016.7838730","DOIUrl":"https://doi.org/10.1109/ICARCV.2016.7838730","url":null,"abstract":"This paper is concerned with the problem of output feedback adaptive control for switched systems with unmodeled dynamics and relative degree p. Firstly, for the former p states, based on the local filters, an adaptive controller is designed by using a backstepping recursive design method and a common coordinate transformation for all subsystems. Second, a common Lyapunov function is constructed to establish the boundedness of all signals in the resulting closed-loop switched systems under arbitrary switching signals. Finally, it is shown that a system output can track the desired trajectory.","PeriodicalId":128828,"journal":{"name":"2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128682341","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Adaptive control of a drilling system with unknown time-delay and disturbance 具有未知时滞和扰动的钻井系统自适应控制
2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2016-11-01 DOI: 10.1109/ICARCV.2016.7838697
Jing Zhou, Wei Wang
{"title":"Adaptive control of a drilling system with unknown time-delay and disturbance","authors":"Jing Zhou, Wei Wang","doi":"10.1109/ICARCV.2016.7838697","DOIUrl":"https://doi.org/10.1109/ICARCV.2016.7838697","url":null,"abstract":"In this paper, we address adaptive predictor feedback design for a simplified drilling system in the presence of disturbance and time-delay. The main objective is to stabilize the bottomhole pressure at a critical depth at a desired set-point directly. The stabilization of the dynamic system and the asymptotic tracking are demonstrated by the proposed adaptive control, where the adaptation employs Lyapunov update law design with normalization. The proposed method is evaluated using a high fidelity drilling simulator and cases from a North Sea drilling operation are simulated. The results show that the proposed predictor controller is effective to stabilize the bottom hole pressure within the desired margins and compensate the effects of the delay and disturbance.","PeriodicalId":128828,"journal":{"name":"2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"63 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130652888","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Robust two-stage Kalman filtering in presence of autoregressive input 存在自回归输入的鲁棒两阶段卡尔曼滤波
2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2016-11-01 DOI: 10.1109/ICARCV.2016.7838827
Huiping Zhuang, Junhui Li
{"title":"Robust two-stage Kalman filtering in presence of autoregressive input","authors":"Huiping Zhuang, Junhui Li","doi":"10.1109/ICARCV.2016.7838827","DOIUrl":"https://doi.org/10.1109/ICARCV.2016.7838827","url":null,"abstract":"The two-stage Kalman filter was proposed with the objective to avoid bias when the system is in presence of input signals. A common technical difficulty in this technique is that the dynamics of input signal is always unknown whereas the optimality of such filter can only be achieved with sufficient priori knowledge (i.e., known dynamics and statistics). Unbiased minimum-variance filter is capable of obtaining unbiased state estimates even in presence of an unknown input but the price is paid and it loses the capability to gain access to more accurate state estimates. This paper takes advantages of both estimators to propose a new estimator that combines their merits and discuss an estimation problem when the input signal displays autoregressive property. We manage to simultaneously estimate the input signal from unbiased minimum-variance filter ahead of the parameter identification procedure, which is of significance as the information is required to procure input dynamics. The un-biasedness of the input estimator is also proved in the paper. The identification step is then completed by converting it into solving an eigenvector problem. This proposed filter builds a bridge connecting unbiased minimum-variance filter and two-stage Kalman filter and the validity of the proposed method is justified via simulation results.","PeriodicalId":128828,"journal":{"name":"2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"13 32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121296647","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
ILC based perimeter control for an urban traffic network 基于ILC的城市交通网络周界控制
2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2016-11-01 DOI: 10.1109/ICARCV.2016.7838622
Ying Ding, S. Jin, Chenkun Yin, Z. Hou
{"title":"ILC based perimeter control for an urban traffic network","authors":"Ying Ding, S. Jin, Chenkun Yin, Z. Hou","doi":"10.1109/ICARCV.2016.7838622","DOIUrl":"https://doi.org/10.1109/ICARCV.2016.7838622","url":null,"abstract":"Macroscopic fundamental diagram (MFD) that describes traffic flow in an urban road network can be used to design perimeter control method to regulate the traffic flow from a macroscopic level. Most of the perimeter control algorithms are regarded as a kind of model-based feedback control method, whose performance is hardly to improve in practice due to the model uncertainty. By noticing the repetitive nature of urban traffic flow, an iterative learning control (ILC) based perimeter control method is proposed for an urban region. Since the repetitive information of the controlled system is fully utilized, an improved tracking performance is guaranteed by theoretical analysis, and simulation results verify the effectiveness of the proposed perimeter control method.","PeriodicalId":128828,"journal":{"name":"2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"89 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116182352","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
The review of educational robotics research and the need for real-world interaction analysis 教育机器人研究综述及对现实世界交互分析的需求
2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2016-11-01 DOI: 10.1109/ICARCV.2016.7838707
Nicholas Wong Wai Hong, Esyin Chew, Jojo Wong
{"title":"The review of educational robotics research and the need for real-world interaction analysis","authors":"Nicholas Wong Wai Hong, Esyin Chew, Jojo Wong","doi":"10.1109/ICARCV.2016.7838707","DOIUrl":"https://doi.org/10.1109/ICARCV.2016.7838707","url":null,"abstract":"This study reviews the educational theories and existing literature for the integration of robots to support teaching in classrooms by assessing integration methods and the effectiveness of educational robotics on student learning. Most of the research on this subject are only focused on children from kindergarten to middle schools and analyzed the end results from questionnaires and grades. Without analysis on the human-robot interaction itself, the effectiveness of robots in classrooms is questionable especially in the higher education context. Future research should leverage more refined data analysis techniques such as learning analytics to directly focus on interaction and conversation dynamics.","PeriodicalId":128828,"journal":{"name":"2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"PP 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126355118","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 11
A single switch based integrated DC-DC converter with high step-up gain 一种基于单开关的高升压增益集成DC-DC变换器
2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2016-11-01 DOI: 10.1109/ICARCV.2016.7838712
Yang Jie, Yuan Dongsheng, Chen Hao, Zan Xiaoshu, Cheng He
{"title":"A single switch based integrated DC-DC converter with high step-up gain","authors":"Yang Jie, Yuan Dongsheng, Chen Hao, Zan Xiaoshu, Cheng He","doi":"10.1109/ICARCV.2016.7838712","DOIUrl":"https://doi.org/10.1109/ICARCV.2016.7838712","url":null,"abstract":"High voltage gain DC-DC converters as used in photovoltaic, fuel cells and other low-voltage distributed generation system have played a significant role in the large-scale promotion of new energy generation. A high step-up integrated DC-DC converter based on one active switch is proposed in this paper by making use of advantages of the quadratic Boost converter (QBC) and the voltage multiplying modular (VMM). Firstly, VMM was embedded into QBC, and this two modules share the same input DC source and the active switch. And then the output terminals of these two modules were connected in series sharing the same output diode and filter capacitor. The above combination constitutes the newly proposed integrated converter. One attractive performance of this converter is the gain can be not only controlled by the duty ratio but also the turn ratio of the coupled inductor in VMM. In addition, the low voltage stress across the switch can be achieved since the switch is not directly clamped at the high output voltage, which is conducive for optimizing the energy transmission efficiency. The zero input current ripples can be achieved by reasonably configuring the values of the fully coupled inductor as well as the auxiliary inductor. The operation principles and the steady state performances of the proposed converter are verified by the experimental prototype.","PeriodicalId":128828,"journal":{"name":"2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125679529","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
Modeling and control of a hexacopter with a rotating seesaw 带旋转跷跷板的六轴飞行器的建模与控制
2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2016-11-01 DOI: 10.1109/ICARCV.2016.7838808
Dolev Yecheskel, S. Arogeti
{"title":"Modeling and control of a hexacopter with a rotating seesaw","authors":"Dolev Yecheskel, S. Arogeti","doi":"10.1109/ICARCV.2016.7838808","DOIUrl":"https://doi.org/10.1109/ICARCV.2016.7838808","url":null,"abstract":"This paper presents a novel multicomputer type with a unique structure. This structure allows decoupling angular motion from translational motion along one of the body axes, and by that, five of the body degrees of freedom (DoF) can be controlled independently. The proposed aerial vehicle is a hexacopter with six propellers, such that four propellers are attached to the vehicle body and the other two attached to a seesaw. The seesaw is free to rotate around a single axis that is fixed in the body frame. Compared to a standard hexacopter, this unique design improves the maneuverability of the aerial vehicle, without the price of additional actuators. As opposed to tilting-rotor aerial-vehicle, in the proposed design all actuators generate lift. The paper describes the dynamical model of the novel vehicle and suggests a nonlinear controller to track desired trajectories along five of its DoF. The performances of the design are demonstrated numerically.","PeriodicalId":128828,"journal":{"name":"2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131340031","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Monocular visual odometry with road probability distribution factor for lane-level vehicle localization 基于道路概率分布因子的单目视觉里程法车道级车辆定位
2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2016-11-01 DOI: 10.1109/ICARCV.2016.7838777
D. Salleh, E. Seignez
{"title":"Monocular visual odometry with road probability distribution factor for lane-level vehicle localization","authors":"D. Salleh, E. Seignez","doi":"10.1109/ICARCV.2016.7838777","DOIUrl":"https://doi.org/10.1109/ICARCV.2016.7838777","url":null,"abstract":"Towards achieving lane-level localization, precision and accuracy plays an important role in vehicle localization efficiency. While Global Positioning System (GPS) is usually used for localization, it has low accuracy caused by signal degradation due to several reasons such as lack of well-positioned satellites, signal obstruction or multipath error. Thus, multi-sensor data fusion has been widely studied to improve vehicle localization. By utilizing the existing techniques for monocular visual odometry and particle filter localization, this paper presents how road information available in OpenStreetMap contributes to accurate and precise vehicle localization by exploiting road probability distribution factor in particle filter implementation. This approach was verified in two datasets with different road features and it has shown better performance compared with the established particle filter localization. As our results indicate, this approach is feasible for lane-level localization for intelligent vehicles.","PeriodicalId":128828,"journal":{"name":"2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127587413","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 3
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