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2015 IEEE International Conference on Information and Automation最新文献

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Active gravity compensation test bed for a six-DOF free-flying robot 六自由度自由飞行机器人主动重力补偿试验台
2015 IEEE International Conference on Information and Automation Pub Date : 2015-10-01 DOI: 10.1109/ICINFA.2015.7279827
Lifang Li, Z. Deng, Haibo Gao, P. Guo
{"title":"Active gravity compensation test bed for a six-DOF free-flying robot","authors":"Lifang Li, Z. Deng, Haibo Gao, P. Guo","doi":"10.1109/ICINFA.2015.7279827","DOIUrl":"https://doi.org/10.1109/ICINFA.2015.7279827","url":null,"abstract":"A novel active gravity compensation concept is proposed to simulate space on-orbit microgravity environments for free-flying robots on ground. Here, robots are suspended by active-controlled motion path tracking mechanisms through wires to compensate for gravitational forces. Based on the concept, an experimental test bed was designed and fabricated in laboratory to study on-ground kinematic and dynamic behaviors of a free-flying robot. The experimental fabrication contains an active horizontal motion tracking mechanism composed of primary and secondary active rotating arms. An multi-objective optimization method calculating the tension of the wires to minimize torques on robot joints is approved. The tension of the suspension wires is obtained through passive counterweights using pulley mechanisms. The kinematics and dynamics of a 6-DOF free-flying manipulator were calculated in MATLAB and simulated in MSC Adams under three working conditions: zero-gravity, gravity compensation and gravity. The lowest ratio of the torque compensation reached 80%. Agreements between numerical analyses and simulation results confirm the ability of this gravity compensation concept to simulate the kinematic and dynamic behaviors of free-flying manipulator in space.","PeriodicalId":186975,"journal":{"name":"2015 IEEE International Conference on Information and Automation","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130852731","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: 4
Insole plantar pressure systems in the gait analysis of post-stroke rehabilitation 鞋垫足底压力系统在中风后康复的步态分析
2015 IEEE International Conference on Information and Automation Pub Date : 2015-10-01 DOI: 10.1109/ICINFA.2015.7279576
Lai-Yin Qin, Hao Ma, W. Liao
{"title":"Insole plantar pressure systems in the gait analysis of post-stroke rehabilitation","authors":"Lai-Yin Qin, Hao Ma, W. Liao","doi":"10.1109/ICINFA.2015.7279576","DOIUrl":"https://doi.org/10.1109/ICINFA.2015.7279576","url":null,"abstract":"This article presents a review of the application of insole plantar pressure sensor system in recognition and analysis of the hemiplegic gait in stroke patients. Based on the review, tailor made 3D insoles for plantar pressure measurement were designed and fabricated. The function is to compare with that of conventional flat insoles. Tailor made 3D contour of the insole can improve the contact between insole and foot and enable sampling plantar pressure at a high reproducibility.","PeriodicalId":186975,"journal":{"name":"2015 IEEE International Conference on Information and Automation","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130926317","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: 17
Four-legged gait planning method for a mobile medical exoskeleton with a pair of crutches 带拐杖的移动医疗外骨骼四足步态规划方法
2015 IEEE International Conference on Information and Automation Pub Date : 2015-10-01 DOI: 10.1109/ICINFA.2015.7279363
Shaomin Zhang, Can Wang, Xinyu Wu, Yongqiang Liao, Pingan Wang, Shibo Cai
{"title":"Four-legged gait planning method for a mobile medical exoskeleton with a pair of crutches","authors":"Shaomin Zhang, Can Wang, Xinyu Wu, Yongqiang Liao, Pingan Wang, Shibo Cai","doi":"10.1109/ICINFA.2015.7279363","DOIUrl":"https://doi.org/10.1109/ICINFA.2015.7279363","url":null,"abstract":"In order to help spinal cord injury (SCI) patients to walk again, a medical robot exoskeleton have been developed to assist these patients to walk independently in SIAT, Shenzhen. The robot has an under-drive control structure. The wearer can maintain balance and shift his (her) body weight with the aid of a pair of crutches. On this robot we have implemented a four-legged gait planning method. Through analysis of normal gait, modifications have been made so that the gait of the robot can serve a SCI patient well. A paraplegic patient acted as a volunteer has involved in the experiments. The results of experiments illustrated the effectiveness of the proposed gait planning method.","PeriodicalId":186975,"journal":{"name":"2015 IEEE International Conference on Information and Automation","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127628995","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
A novel template matching algorithm based on the contextual semantic information 一种新的基于上下文语义信息的模板匹配算法
2015 IEEE International Conference on Information and Automation Pub Date : 2015-10-01 DOI: 10.1109/ICINFA.2015.7279328
Shuoyan Liu, Kai Fang, Li Jiang
{"title":"A novel template matching algorithm based on the contextual semantic information","authors":"Shuoyan Liu, Kai Fang, Li Jiang","doi":"10.1109/ICINFA.2015.7279328","DOIUrl":"https://doi.org/10.1109/ICINFA.2015.7279328","url":null,"abstract":"This paper presents a novel template matching algorithm that copes with the occlusion on the target image. Most of the previous methods are sensitive to the occlusion because it induces some patches with similar semantic concepts but distinct appearances. Thus the template matching algorithm hardly accomplishes the task based on the appearance similarity only. To overcome this limitation, we integrate the contextual semantic information into the template matching algorithm. To this end, we first segment the template image into 9 patches. The center patch is used to compute the appearance similarity and its neighborhood patches are adopted to construct the contextual semantic constraint. And then we obtain the integrated distance by introducing the pseudo-likelihood to combine the feature appearance similarity and contextual semantic information together. Finally, the arbitrary regions of a target image are matched with the template image via integrated distance. The experimental results demonstrate the proposed method is more robust to occlusion than previous template matching techniques.","PeriodicalId":186975,"journal":{"name":"2015 IEEE International Conference on Information and Automation","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131607196","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 model reduction of multi-agent system depended on the spanning tree of directed graph 多智能体系统的模型约简依赖于有向图的生成树
2015 IEEE International Conference on Information and Automation Pub Date : 2015-10-01 DOI: 10.1109/ICINFA.2015.7279483
Zhiwen Zeng, Xiangke Wang, Zhiqiang Zheng
{"title":"The model reduction of multi-agent system depended on the spanning tree of directed graph","authors":"Zhiwen Zeng, Xiangke Wang, Zhiqiang Zheng","doi":"10.1109/ICINFA.2015.7279483","DOIUrl":"https://doi.org/10.1109/ICINFA.2015.7279483","url":null,"abstract":"This work explores the model reduction problem based on the edge agreement dynamics of multi-agent system. To begin with, the general concepts of weighted edge Laplacian of directed graph are proposed and its algebraic properties are further explored. From the systematic and structural view of the edge agreement dynamics, we note that multi-agent system can be then translated into a output feedback interconnection of the spanning tree subsystem and the co-spanning tree subsystem. In addition, based on the essential edge Laplacian, we derive a model reduction representation of the closed-loop multi-agent system based on the spanning tree subgraph.","PeriodicalId":186975,"journal":{"name":"2015 IEEE International Conference on Information and Automation","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129293491","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 neural network control for uncertain MIMO robotic systems with time-varying delay and unknown backlash-like hysteresis 不确定多输入多输出机器人系统的时变时滞和未知逆激滞的自适应神经网络控制
2015 IEEE International Conference on Information and Automation Pub Date : 2015-10-01 DOI: 10.1109/ICINFA.2015.7279585
Longbin Zhang, Ziting Chen, Zhijun Li, C. Su, Zhiye Xiao
{"title":"Adaptive neural network control for uncertain MIMO robotic systems with time-varying delay and unknown backlash-like hysteresis","authors":"Longbin Zhang, Ziting Chen, Zhijun Li, C. Su, Zhiye Xiao","doi":"10.1109/ICINFA.2015.7279585","DOIUrl":"https://doi.org/10.1109/ICINFA.2015.7279585","url":null,"abstract":"This paper proposes an adaptive neural network control scheme for uncertain nonlinearly multi-input-multi-output (MIMO) robotic systems with time-varying delay and unknown backlash-like hysteresis. The radial basis function neural network (RBFNN) is used to approximate the unknown nolinear function term of the uncertain MIMO robotic systems and the unknown backlash-like hysteresis nonlinearity. To compensate the time-varying delays and unknown backlash-like hysteresis, a new version of high dimensional integral Lyapunov function is presented to construct a Lyapunov-based adaptive control structure. By combining the high dimensional integral-type Lyapunov function and RBFNN, the global stability of the considered systems is ensured and the tracking errors converge to the origin. Simulation studies on 2-DOF robotic manipulators demonstrate the proposed method is effective.","PeriodicalId":186975,"journal":{"name":"2015 IEEE International Conference on Information and Automation","volume":"54 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123261436","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: 6
A graph-theory-based Euler number computing algorithm 基于图论的欧拉数计算算法
2015 IEEE International Conference on Information and Automation Pub Date : 2015-10-01 DOI: 10.1109/ICINFA.2015.7279470
Bin Yao, Shiying Kang, Xiao Zhao, Y. Chao, Lifeng He
{"title":"A graph-theory-based Euler number computing algorithm","authors":"Bin Yao, Shiying Kang, Xiao Zhao, Y. Chao, Lifeng He","doi":"10.1109/ICINFA.2015.7279470","DOIUrl":"https://doi.org/10.1109/ICINFA.2015.7279470","url":null,"abstract":"This paper proposes a new graph-theory-based Euler number computing algorithm. The proposed algorithm only needs to count two bit-quad patterns in the given image, while conventional bit-quad-based algorithms need to count ten. Moreover, by use of the information obtained during processing previous pixels, the average number of pixel checked for processing a bit-quad in the proposed algorithm will be less than that in conventional algorithms. Experimental results demonstrated that the performance of the proposed algorithm significantly overpasses conventional Euler number computing algorithms.","PeriodicalId":186975,"journal":{"name":"2015 IEEE International Conference on Information and Automation","volume":"147 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123269281","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: 4
Abstraction of abstraction - an outline of general scheduling platform for space missions, part II 抽象的抽象——空间任务总调度平台概要，第二部分
2015 IEEE International Conference on Information and Automation Pub Date : 2015-10-01 DOI: 10.1109/ICINFA.2015.7279685
Hua Zhu, Jinjiang Xing, Xuemei Zou, Jian Li
{"title":"Abstraction of abstraction - an outline of general scheduling platform for space missions, part II","authors":"Hua Zhu, Jinjiang Xing, Xuemei Zou, Jian Li","doi":"10.1109/ICINFA.2015.7279685","DOIUrl":"https://doi.org/10.1109/ICINFA.2015.7279685","url":null,"abstract":"For designing a general scheduling platform, this part of paper discusses logic and process abstraction that can be implemented to different kind of space missions. A logic model extension solution is given to allow defining specific mission related data patterns with custom manipulation methods. The scheduling elements, requirement, inputs and outputs are organized in one solution for estimation and verification. All the scheduling constrains are abstracted into expressions for simplification. A protocol is proposed for reinforcement heuristic algorithms besides internal ones, with which the process of problem solving is controllable. With the basic abstraction methods, a common framework capable for general space mission scheduling is set up, ensuring the general mission scheduling platform with great flexibility and extensibility.","PeriodicalId":186975,"journal":{"name":"2015 IEEE International Conference on Information and Automation","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123364292","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
Path planning of automated guided vehicles based on improved A-Star algorithm 基于改进A-Star算法的自动导引车路径规划
2015 IEEE International Conference on Information and Automation Pub Date : 2015-10-01 DOI: 10.1109/ICINFA.2015.7279630
Chunbao Wang, Lin Wang, J. Qin, Zhengzhi Wu, L. Duan, Zhongqiu Li, M. Cao, Xicui Ou, Xiaoling Su, Weiguang Li, Zhijiang Lu, Mengjie Li, Yulong Wang, J. Long, Meiling Huang, Yinghong Li, Qiuhong Wang
{"title":"Path planning of automated guided vehicles based on improved A-Star algorithm","authors":"Chunbao Wang, Lin Wang, J. Qin, Zhengzhi Wu, L. Duan, Zhongqiu Li, M. Cao, Xicui Ou, Xiaoling Su, Weiguang Li, Zhijiang Lu, Mengjie Li, Yulong Wang, J. Long, Meiling Huang, Yinghong Li, Qiuhong Wang","doi":"10.1109/ICINFA.2015.7279630","DOIUrl":"https://doi.org/10.1109/ICINFA.2015.7279630","url":null,"abstract":"With the development of automated logistics systems, flexible manufacture systems (FMS) and unmanned automated factories, the application of automated guided vehicle (AGV) gradually become more important to improve production efficiency and logistics automatism for enterprises. The development of the AGV systems play an important role in reducing labor cost, improving working conditions, unifying information flow and logistics. Path planning has been a key issue in AGV control system. In this paper, two key problems, shortest time path planning and collision in multi AGV have been solved. An improved A-Star (A*) algorithm is proposed, which introduces factors of turning, and edge removal based on the improved A* algorithm is adopted to solve k shortest path problem. Meanwhile, a dynamic path planning method based on A* algorithm which searches effectively the shortest-time path and avoids collision has been presented. Finally, simulation and experiment have been conducted to prove the feasibility of the algorithm.","PeriodicalId":186975,"journal":{"name":"2015 IEEE International Conference on Information and Automation","volume":"401 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123394461","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: 83
Overview of lithium-ion battery SOC estimation 锂离子电池SOC估算综述
2015 IEEE International Conference on Information and Automation Pub Date : 2015-10-01 DOI: 10.1109/ICINFA.2015.7279698
Yimin Zhou, Xiaoyun Li
{"title":"Overview of lithium-ion battery SOC estimation","authors":"Yimin Zhou, Xiaoyun Li","doi":"10.1109/ICINFA.2015.7279698","DOIUrl":"https://doi.org/10.1109/ICINFA.2015.7279698","url":null,"abstract":"In this paper, different types of batteries are summarized which are used in electric vehicles. The performance of the battery, including material, duration, environment impact such factors can seriously restrain the development of renewable vehicles. Battery state-of-charge (SOC) plays an important role in vehicle driving regulation. Hence, the methods of battery SOC estimation based on different kinds of lithium-ion batteries are discussed. Each methods has its own advantages and disadvantages in the SOC estimation. Only the combination of two or more methods for SOC estimation can provide full and more accurate SOC estimation in all applied situations, i.e., driving or still states.","PeriodicalId":186975,"journal":{"name":"2015 IEEE International Conference on Information and Automation","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122972840","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: 17
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