2015 International Conference on Robotics, Automation, Control and Embedded Systems (RACE)最新文献_第4页

Improvement of spectral and spatial information using WAMM and bi-cubic interpolation method in Non-subsampled contourlet transform domain 利用WAMM和双三次插值方法改进非下采样contourlet变换域的光谱和空间信息

2015 International Conference on Robotics, Automation, Control and Embedded Systems (RACE) Pub Date : 2015-04-30 DOI: 10.1109/RACE.2015.7097248

R. James, M. Vadivel

{"title":"Improvement of spectral and spatial information using WAMM and bi-cubic interpolation method in Non-subsampled contourlet transform domain","authors":"R. James, M. Vadivel","doi":"10.1109/RACE.2015.7097248","DOIUrl":"https://doi.org/10.1109/RACE.2015.7097248","url":null,"abstract":"Pan-sharpening is widely used as a tool toconstruct remotely sensed image, which is rich in both spectral and spatial contents. Panchromatic sharpening is used to improve the spatial resolution and provide an enhanced visualization of a multiband image using the high-resolutions, single-band image. The main scope of pan-sharpening is to maximize the spatial content simultaneously and minimize the spectral distortions which occur during processing. There are many approaches to implement pan-sharpening like principal component analysis (PCA), Intensity, hue and saturation (HIS), and WAVELET. The main drawback of these approaches is the distortion of spectral resolutions. However, Non-subsampled contourlet-transform (NSCT) approach is proved to be efficient. It is alsovery efficient in representing directional information and to capture intrinsic geometrical structure of the object. It combines features like high resolutions, shift-invariance and high-directionality. In this paper modified bi-cubic interpolation method and weighted average merging method (WAMM) are used. By using these methods the image issharper and there is no softening of details in the image, thus improving the quality. In the proposed paper it is possible to improve the efficiency of an image both spectrally and spatially with better efficiency compared to existing methods. The evaluation of efficiency of these methods is done by simulation, using performance metrics like RGE and Q4.","PeriodicalId":161131,"journal":{"name":"2015 International Conference on Robotics, Automation, Control and Embedded Systems (RACE)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124654283","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

Investigation on Laser assisted actuation of shape memory alloy based micro-valve 基于形状记忆合金的微阀激光辅助驱动研究

2015 International Conference on Robotics, Automation, Control and Embedded Systems (RACE) Pub Date : 2015-04-30 DOI: 10.1109/RACE.2015.7097249

T. Nath, Gaurav Raut, A. Kumar, R. Khatri, I. Palani

{"title":"Investigation on Laser assisted actuation of shape memory alloy based micro-valve","authors":"T. Nath, Gaurav Raut, A. Kumar, R. Khatri, I. Palani","doi":"10.1109/RACE.2015.7097249","DOIUrl":"https://doi.org/10.1109/RACE.2015.7097249","url":null,"abstract":"This research highly focuses towards development of a Shape Memory Alloy based micro valve and actuation using LASER. Numerous Micro valve designs have been reported with a variety of actuation mechanisms such as piezoelectric, silicon rubber, etc. [1], but the use of these micro valves have been limited. Here LASER is used as actuation medium because of noncontact type and low power energy density source. The micro valve is designed and fabricated to control small amounts of fluid flow of the order of μL/sec. Single way trained NiTi Shape Memory Alloy is used in this micro valve. EDX test and DSC test has been performed to get details of properties of NiTi SMA. In the LASER actuation work, detailed parametric studies have been performed by actuating the one way trained SMA at various Laser fluence, actuation time and spot diameter of Laser .Scanning Electron Microscope test has been performed to check for ablation. A micro-valve array for fluid flow control on macroscopic level is described. The micro-valve array is based on innovative design such that flow rate across micro-valve array can be varied with number of micro-valve opened with each micro-valve is laser actuated and spring returned. The actuation of SMA using LASER shows that the maximum deflection obtained for optimum LASER fluence of 25.48mJ/cm2 is 7.29 mm, The flow measurement was performed using an air meter at pressure difference ranging from 1KPa to 5KPa with minimum rate of flow 325 μL/sec.","PeriodicalId":161131,"journal":{"name":"2015 International Conference on Robotics, Automation, Control and Embedded Systems (RACE)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127867040","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: 5

Optimization of performance and emission parameters of single cylinder direct injection CI engine by varying compression ratio and injection timing 通过改变压缩比和喷射正时对单缸直喷发动机性能和排放参数进行优化

2015 International Conference on Robotics, Automation, Control and Embedded Systems (RACE) Pub Date : 2015-04-30 DOI: 10.1109/RACE.2015.7097256

H. Venkatesan, V. S. Ramani

引用次数: 2

Networked switching and polymorphing control of electrical loads with web and wireless sensor network 基于网络和无线传感器网络的电力负荷网络交换和多态控制

2015 International Conference on Robotics, Automation, Control and Embedded Systems (RACE) Pub Date : 2015-04-30 DOI: 10.1109/RACE.2015.7097293

Venkateasn Kesavel, U. Ramachandraiah

{"title":"Networked switching and polymorphing control of electrical loads with web and wireless sensor network","authors":"Venkateasn Kesavel, U. Ramachandraiah","doi":"10.1109/RACE.2015.7097293","DOIUrl":"https://doi.org/10.1109/RACE.2015.7097293","url":null,"abstract":"All the electrical load cannot be controlled using occupancy sensors in buildings/home especially in large public building, this results need for manual control on supervisory manner due to importance of the load or the service requirement. This requires switch box to be fixed on wall/nearby close to the load. To operate the same the person has to travel to the switch box. As the technology keeps growing to serve the mankind the expectation keeps on increasing There is no limit for sophistication. This paper intended to demonstrate web based control for Electrical loads in combination with the wireless sensor network based switch box which provides local mobility to control the load and also the same function can be done through internet. We introduce the wireless sensor network based mobile switch box for sophistication along with embedded web server based control the user can use the wsn switch box or internet to control the electrical load. The load status can be monitored in the web page. We also introduce the concept called polymorphing control by which one mobile switch box designed for one location can be used to control the electrical load in other location. We use open standard embedded controller Arduino mega with Ethernet and xbee nodes. The switch box operates at 3V which more safe and saves the wiring cost partially. Also the power to room completely cut off when the loads were in off condition by fixing the controller outside the room which increases the fire safety. This flexible operation brings energy efficiency.","PeriodicalId":161131,"journal":{"name":"2015 International Conference on Robotics, Automation, Control and Embedded Systems (RACE)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130405180","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: 7

Inverse kinematics of a NAO humanoid robot using kinect to track and imitate human motion 利用kinect跟踪和模仿人体运动的NAO类人机器人的逆运动学

2015 International Conference on Robotics, Automation, Control and Embedded Systems (RACE) Pub Date : 2015-04-30 DOI: 10.1109/RACE.2015.7097245

Shohin Mukherjee, D. Paramkusam, S. K. Dwivedy

{"title":"Inverse kinematics of a NAO humanoid robot using kinect to track and imitate human motion","authors":"Shohin Mukherjee, D. Paramkusam, S. K. Dwivedy","doi":"10.1109/RACE.2015.7097245","DOIUrl":"https://doi.org/10.1109/RACE.2015.7097245","url":null,"abstract":"In this paper, three methods to imitate human upper body motion are implemented on a NAO humanoid robot: (i) direct angle mapping method (ii) inverse kinematics using fuzzy logic and (iii) inverse kinematics using iterative Jacobian. In the first method, the Kinect sensor is used to obtain coordinates of the shoulder, elbow and wrist joints of the operator. The four angles that are required to completely describe the position of the robot's wrist- shoulder roll, shoulder pitch, elbow roll and elbow yaw- are then calculated using vector algebra. In a unique approach, the human arm lengths instead of the robot's link lengths are used to find the inverse kinematics model for the robot arms. The model is then used to train adaptive neural network and the inverse kinematics problem is solved using the trained ANFIS in the second method. In the third approach, the Jacobian matrices of the arms are first found by differentiating the position components of the transformation matrix with respect to the joint variables. The Moore-Penrose pseudo-inverse of the Jacobian is then used to iteratively solve the inverse kinematics problem. Performance of the three methods is then compared.","PeriodicalId":161131,"journal":{"name":"2015 International Conference on Robotics, Automation, Control and Embedded Systems (RACE)","volume":"266 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133939445","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: 35

Development of in-pipe material transporter robot 管道输送机器人的研制

2015 International Conference on Robotics, Automation, Control and Embedded Systems (RACE) Pub Date : 2015-04-30 DOI: 10.1109/RACE.2015.7097241

R. Sudhakar, U. Ramachandraiah

{"title":"Development of in-pipe material transporter robot","authors":"R. Sudhakar, U. Ramachandraiah","doi":"10.1109/RACE.2015.7097241","DOIUrl":"https://doi.org/10.1109/RACE.2015.7097241","url":null,"abstract":"In-Pipe robots are generally being used in various inspection applications for maintaining water, gas, and other pipelines. On literature survey, we have noticed functional discussion of various designs of such inspection robots and the key issues of navigating in straight, curved, branched & inclined pipes. This paper also describes about development of an In-Pipe robot which becomes unique by its design, functionality and the area of application. An in-pipe Robot has been developed with differential drive wheels and also with set of guide wheel mechanism for using as a material transporter robot to transfer small amount of materials between various locations within a campus or industry which are located on different levels/floors. The robot will travel at a greater speed on a pipeline, which connects all these locations. The wheel arm mechanism will create required friction for continue moving the robot on inclined paths. The frictional force will be applied only when needed by moving the arm with reference to the traveling angle of the Robot. It helps for rapid transfer of materials to the destinations. This In-Pipe transporter robot can be used for 1) Transferring sample materials in Cement, Steel, Chemicals, Pharmaceuticals, & various other process industries 2.) Transferring Sensitive samples, such as Blood samples, Tissue samples, Blood Plasma, Injection vials, etc.... in hospitals 3.) Transferring Cash & Coins in Retail Stores, Banks and Toll Booths 4.) Transferring Documents, Cheques, bills, etc...in Airports, Railways Stations, Large corporate offices and hotels.","PeriodicalId":161131,"journal":{"name":"2015 International Conference on Robotics, Automation, Control and Embedded Systems (RACE)","volume":"398 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116061073","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

Frequency control of autonomous hybrid power system using smart controllable load 基于智能可控负载的自主混合动力系统频率控制

2015 International Conference on Robotics, Automation, Control and Embedded Systems (RACE) Pub Date : 2015-04-30 DOI: 10.1109/RACE.2015.7097270

S. Debbarma, M. Bhattacharya, B. Meena, A. Datta

{"title":"Frequency control of autonomous hybrid power system using smart controllable load","authors":"S. Debbarma, M. Bhattacharya, B. Meena, A. Datta","doi":"10.1109/RACE.2015.7097270","DOIUrl":"https://doi.org/10.1109/RACE.2015.7097270","url":null,"abstract":"In recent years, penetration of renewable energy technologies in electrical power systems have increased the system complexity and therefore require efficient controlling methods to ensure stable operation of the whole system. In present study, the frequency control of autonomous hybrid power system consisting of various generators such as wind turbine generator, diesel engine generator, fuel cell and solar photovoltaic is investigated in integration with aqua electrolyzer and smart controllable water heater. The intermittent nature of wind and solar power may cause a serious problem of frequency fluctuation. Therefore, a new robust PID controller with filtering technique (PIDF) has been designed for the proposed system to minimize the frequency deviation to zero. Proposed controller is provided with derivative filter to improve the performance when there is noise or random error in the measured process variables. Nature-inspired firefly algorithm (FA) based optimization is employed to search for optimal controller parameters and the corresponding dynamic performance are compared with conventional PI controller. Initially investigation has been carried out considering 1% step load perturbation (SLP) and then against random load pattern. Furthermore, performance of proposed controller against random variation of wind input power has been tested. Critical investigation reveal that firefly optimized PIDF controller is far superior to conventional PI controller in terms of settling time, reduced overshoots, undershoots and oscillation.","PeriodicalId":161131,"journal":{"name":"2015 International Conference on Robotics, Automation, Control and Embedded Systems (RACE)","volume":"59 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126957439","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: 8

Robust control of a three degrees of freedom aeroelastic model using an intelligent observer 基于智能观测器的三自由度气动弹性模型鲁棒控制

2015 International Conference on Robotics, Automation, Control and Embedded Systems (RACE) Pub Date : 2015-04-30 DOI: 10.1109/RACE.2015.7097251

L. Prabhu, J. Srinivas

引用次数: 3

Impact of co-efficient selection rules on the performance of DWT based fusion on medical images 协同选择规则对医学图像小波变换融合性能的影响

2015 International Conference on Robotics, Automation, Control and Embedded Systems (RACE) Pub Date : 2015-04-30 DOI: 10.1109/RACE.2015.7097299

K. Indira, R. Rani Hemamalini

引用次数: 7

Parameter optimization of Al-SiC metal matrix composites produced using powder-based process 粉末法制备Al-SiC金属基复合材料的工艺参数优化

2015 International Conference on Robotics, Automation, Control and Embedded Systems (RACE) Pub Date : 2015-04-30 DOI: 10.1109/RACE.2015.7097265

P. Gangadhara Rao, A. Gopala Krishna, P. R. Vundavalli

{"title":"Parameter optimization of Al-SiC metal matrix composites produced using powder-based process","authors":"P. Gangadhara Rao, A. Gopala Krishna, P. R. Vundavalli","doi":"10.1109/RACE.2015.7097265","DOIUrl":"https://doi.org/10.1109/RACE.2015.7097265","url":null,"abstract":"Aluminium-based metal matrix composites (MMC) are very popularly used in aircraft, automotive and armaments industry because of their high young's modulus, specific strength and enhanced wear properties. It is to be noted that there are many methods available for the production of aluminium-based MMCs. The present paper aims at optimization of process parameters related to the powder metallurgy-based process of producing Al-SiC MMCs with the help of two non-traditional optimization algorithms, namely genetic algorithm (GA) and artificial bee colony (ABC) algorithms. It is important to note that the input process parameters related to the powder-metallurgy process, such as percentage of reinforcement, sintering temperature, compacting pressure and sintering time are considered as inputs and the properties of the composite produced, namely sintering density and micro-hardness are treated as outputs. The non-linear regression equations related to the sintering density and micro-hardness in terms of input process parameters have been developed after utilizing the experimental data available in the literature. The two objectives (that is, sintering density and micro-hardness) in this process are combined to form a single objective and the problem has been solved as a maximization problem with the help of GA and ABC. It has been observed that the optimal values of the input process parameters obtained by the two optimization algorithms are comparable.","PeriodicalId":161131,"journal":{"name":"2015 International Conference on Robotics, Automation, Control and Embedded Systems (RACE)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131896215","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