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Control system of a small intelligent inspection robot for nuclear power plant use 一种用于核电站的小型智能巡检机器人控制系统
2015 IEEE International Conference on Information and Automation Pub Date : 2015-10-01 DOI: 10.1109/ICINFA.2015.7279401
Erzhen Pan, Da Guan, Wenfu Xu, Bingshan Hu
{"title":"Control system of a small intelligent inspection robot for nuclear power plant use","authors":"Erzhen Pan, Da Guan, Wenfu Xu, Bingshan Hu","doi":"10.1109/ICINFA.2015.7279401","DOIUrl":"https://doi.org/10.1109/ICINFA.2015.7279401","url":null,"abstract":"Since Fukushima nuclear accident, the international society are paying more and more attention on the safety of nuclear power. The healthy monitoring is the most important means for earth warning. In this paper, we developed the control system for an intelligent monitoring robot used in nuclear power plants. The control system is actually a two-level controller, consisting of the host computer and lower computer. The host computer is a traditional PC, supplying the human-computer interface. It is also used for mission planning, control parameters setting, monitoring results processing and displaying, and so on. The lower computer is an ARM embedded controller. It is directly connected to all actuators and sensors. The real-time operation system uc/os-ii is also migrated to the ARM processor. It effectively manages the hardware resource and the multiple tasks in real time. Typical experiments verified the effectiveness and reliability.","PeriodicalId":186975,"journal":{"name":"2015 IEEE International Conference on Information and Automation","volume":"92 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":"134236879","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
SVM learning from imbalanced microanuerysm candidate datasets used feature selection by gini index 基于gini指数特征选择的不平衡微动脉瘤候选数据支持向量机学习
2015 IEEE International Conference on Information and Automation Pub Date : 2015-10-01 DOI: 10.1109/ICINFA.2015.7279548
Jiayi Wu, J. Xin, Nanning Zheng
{"title":"SVM learning from imbalanced microanuerysm candidate datasets used feature selection by gini index","authors":"Jiayi Wu, J. Xin, Nanning Zheng","doi":"10.1109/ICINFA.2015.7279548","DOIUrl":"https://doi.org/10.1109/ICINFA.2015.7279548","url":null,"abstract":"In the view of the characteristic of the imbalanced microanuerysm candidate datasets: a large number of negative samples, the different distributions of different classes and the irrelevant features exacted from each candidate for learning task, this paper proposes a feature selection algorithm that we selected the top features out of all features that were ranked in the increasing order of feature weights generated by Gini index, and then a modified SVM classifier is used to divide the microanuerysm candidates into two groups: true microaneurysms and false microaneurysms. The experiment on the training set of a publicly available database shows that the proposed new method has the best performance including the best free-response receiver operating characteristic (FROC) curve. Furthermore the proposed method based on top features selected by feature Gini index outperforms over all features.","PeriodicalId":186975,"journal":{"name":"2015 IEEE International Conference on Information and Automation","volume":"26 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":"134326897","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
A new hybrid tracking strategy based on Pulse Coupled Neural Network 一种新的基于脉冲耦合神经网络的混合跟踪策略
2015 IEEE International Conference on Information and Automation Pub Date : 2015-10-01 DOI: 10.1109/ICINFA.2015.7279505
S. Jia, Tao Xu, Zhengyin Dong, Xiuzhi Li, Peng Zhang
{"title":"A new hybrid tracking strategy based on Pulse Coupled Neural Network","authors":"S. Jia, Tao Xu, Zhengyin Dong, Xiuzhi Li, Peng Zhang","doi":"10.1109/ICINFA.2015.7279505","DOIUrl":"https://doi.org/10.1109/ICINFA.2015.7279505","url":null,"abstract":"Visual object tracking is a fundamental research topic in computer vision. In this paper, we proposed a novel hybrid tracking method based on Pulse Coupled Neural Network (PCNN) and Multiple Instance Learning (MIL). Most modern trackers may be inaccurate when the training samples are imprecise which causes drift. To resolve these problems, MIL method is introduced into the tracking task, which can alleviate drift to some extent. However, the MIL tracker may detect the positive sample that is less important. PCNN is different from traditional artificial neural networks, which can be applied in many image processing fields, such as image segmentation. So, the PCNN was employed as sample detector which can know the most important sample when training the classifier. Then, a more robust and much faster tracker is proposed to approximately maximize the bag likelihood function. Empirical results on a large set of sequences demonstrate the superior performance of the proposed approach in robustness, stability and efficiency to state-of-the-art methods in the literature.","PeriodicalId":186975,"journal":{"name":"2015 IEEE International Conference on Information and Automation","volume":"33 3","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114107835","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
Energy efficiency optimization of belt conveyor for material scheduling problem 带式输送机能效优化解决物料调度问题
2015 IEEE International Conference on Information and Automation Pub Date : 2015-10-01 DOI: 10.1109/ICINFA.2015.7279270
Juan Luo, Yanjun Shen
{"title":"Energy efficiency optimization of belt conveyor for material scheduling problem","authors":"Juan Luo, Yanjun Shen","doi":"10.1109/ICINFA.2015.7279270","DOIUrl":"https://doi.org/10.1109/ICINFA.2015.7279270","url":null,"abstract":"In this paper, we address energy efficiency optimization of belt conveyor for material scheduling problem. First, a new model of energy efficiency of belt conveyor is proposed, which is the foundation of the optimization problems. We take hourly material consumption and bounds on storehouse capacity into account to satisfy the claims of this paper. Then, three optimization problems of a typical belt conveyor system are formulated for material scheduling under various constraints. Finally, simulation results have been presented to show the validity of the proposed method.","PeriodicalId":186975,"journal":{"name":"2015 IEEE International Conference on Information and Automation","volume":"117 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":"117324117","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
An adaptive kalman filter to estimate state-of-charge of lithium-ion batteries 一种估算锂离子电池电量状态的自适应卡尔曼滤波
2015 IEEE International Conference on Information and Automation Pub Date : 2015-10-01 DOI: 10.1109/ICINFA.2015.7279474
Zhiliang Luo, Yanjie Li, Y. Lou
{"title":"An adaptive kalman filter to estimate state-of-charge of lithium-ion batteries","authors":"Zhiliang Luo, Yanjie Li, Y. Lou","doi":"10.1109/ICINFA.2015.7279474","DOIUrl":"https://doi.org/10.1109/ICINFA.2015.7279474","url":null,"abstract":"Fast and accurate estimation of battery state of charge (SOC) is a key technology in the battery management system. Based on the non-linear response characteristics of lithium batteries, an adaptive Kalman filter algorithm is put forward in this paper. It is known that the battery model parameters vary with SOC, battery temperature and battery aging. Moreover, the relationship between open circuit voltage (OCV) and SOC is nonlinear. To solve these issues, a piecewise linear approximation of the model parameters is proposed based on the SOC, and then the nonlinear battery model is turned into a piecewise linear one. On these bases, an adaptive Kalman filter can be implemented and thus the amount of computation can be reduced. In addition, we apply the Arrhenius equation to update internal resistance and the remaining capacity of battery which can reflect the aging state of battery. The algorithm achieves an adaptive SOC estimation and improves the estimation accuracy with a small amount of calculation. Finally, the simulation results show the accuracy and applicability of the algorithm.","PeriodicalId":186975,"journal":{"name":"2015 IEEE International Conference on Information and Automation","volume":"41 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":"123367298","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
Design and implementation of a 6 DOF delta force feedback controller for tele-operation 一种用于遥控操作的6自由度delta力反馈控制器的设计与实现
2015 IEEE International Conference on Information and Automation Pub Date : 2015-10-01 DOI: 10.1109/ICINFA.2015.7279422
Lingxuan Zhang, Hongxia Xiong, Liangliang Han
{"title":"Design and implementation of a 6 DOF delta force feedback controller for tele-operation","authors":"Lingxuan Zhang, Hongxia Xiong, Liangliang Han","doi":"10.1109/ICINFA.2015.7279422","DOIUrl":"https://doi.org/10.1109/ICINFA.2015.7279422","url":null,"abstract":"Force feedback controller (haptic device) is the key part of a master-slave tele-operation system. It can transmit its position, orientation and velocity to remotely operate the controlled object; at the same time it can acquire information of force/torque from the remote object, and rebuild those to the operator by enabling a force sense telepresence. In this paper, a new type force feedback controller with a 6 DOF Delta parallel mechanism is presented considering the performance of easy operation and precise force feedback. Firstly, the structure and control system of the force feedback controller are introduced, then its kinematics and statics models are analyzed as well as the force feedback control scheme. Moreover, a combined simulation model is established based on “Adams” and “Simulink” to valid the performance of the force feedback controller. Simulation results demonstrate that the established kinematic model and force feedback control scheme are precise and effective, which can provide beneficial guidance for design and application of the tele-operation system.","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":"124727210","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
ZG control for 2-output tracking of 3-input nonlinear system with GD used additionally twice more 对于三输入非线性系统的二输出跟踪，ZG控制在GD的基础上增加了两倍
2015 IEEE International Conference on Information and Automation Pub Date : 2015-10-01 DOI: 10.1109/ICINFA.2015.7279654
Yunong Zhang, Ming Liu, Yinyan Zhang, Zeqi Chen, Hongzhou Tan
{"title":"ZG control for 2-output tracking of 3-input nonlinear system with GD used additionally twice more","authors":"Yunong Zhang, Ming Liu, Yinyan Zhang, Zeqi Chen, Hongzhou Tan","doi":"10.1109/ICINFA.2015.7279654","DOIUrl":"https://doi.org/10.1109/ICINFA.2015.7279654","url":null,"abstract":"In this paper, the Zhang-gradient (ZG) method, which is a combination of Zhang dynamics (ZD) and gradient dynamics (GD) methods, is proposed for solving the tracking control problem of the multiple-input multiple-output (MIMO) system. Different from the traditional ZG method, GD is used additionally twice more in this paper to get through the derivation procedure. Moreover, each GD parameter is tunable for each GD design formula instead of being traditionally assigned the same value, which is the key point in this research for making simulations successful. Besides, simulation verifications further illustrate that the proposed controller group based on the ZG method achieves not only satisfactory tracking accuracy but also rapid tracking rate.","PeriodicalId":186975,"journal":{"name":"2015 IEEE International Conference on Information and Automation","volume":"34 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":"124932712","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
Hierarchical model-based associate tasks scheduling with the deadline constraints in the cloud 基于分层模型的任务调度与云中的截止日期约束相关联
2015 IEEE International Conference on Information and Automation Pub Date : 2015-10-01 DOI: 10.1109/ICINFA.2015.7279297
Yingchi Mao, Haishi Zhong, Xiaofang Li
{"title":"Hierarchical model-based associate tasks scheduling with the deadline constraints in the cloud","authors":"Yingchi Mao, Haishi Zhong, Xiaofang Li","doi":"10.1109/ICINFA.2015.7279297","DOIUrl":"https://doi.org/10.1109/ICINFA.2015.7279297","url":null,"abstract":"Cloud computing can provide the dynamic and elastic virtualized resources for the users and is based on distributed computing, parallel computing and grid computing. Task scheduling is an important part of cloud computing. The schedule constraint is based on the QoS constraints, such as task executed time, cost, resource utilization, etc. We proposed one task hierarchical model for the associated task scheduling considering the real application requirements in cloud computing. Considering the parallel structure of sub-DAG, we proposed the hierarchical task graph to decompose the associated tasks, which can improve the tasks execution concurrency and reduce the execution cost. In order to execute all of the associated tasks in the specific delay-bound, we proposed the concept of tasks processing capacity and the corresponding calculation method, and further established the mapping between the task processing capacity and execution time. Concerning the delay of the associated tasks scheduling in cloud computing, the associated task scheduling algorithms based on delay-bound constraint based on the task hierarchical model was proposed. The scheduling algorithm is called associated tasks scheduling based on serial/parallel structure (SAH-DB). Extensive experimental results demonstrated that the proposed SAH-DB algorithms can achieve better performance than CPM and TS-Sim algorithm in the terms of the total execution cost and resource utilization.","PeriodicalId":186975,"journal":{"name":"2015 IEEE International Conference on Information and Automation","volume":"23 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":"123827382","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
Integrated guidance and control design for guided bomb with terminal angle constraint 末角约束制导炸弹综合制导控制设计
2015 IEEE International Conference on Information and Automation Pub Date : 2015-10-01 DOI: 10.1109/ICINFA.2015.7279495
Yang Han, Zhiqiang Zheng, Yuhai Chong
{"title":"Integrated guidance and control design for guided bomb with terminal angle constraint","authors":"Yang Han, Zhiqiang Zheng, Yuhai Chong","doi":"10.1109/ICINFA.2015.7279495","DOIUrl":"https://doi.org/10.1109/ICINFA.2015.7279495","url":null,"abstract":"Integrated guidance and control laws have the potential to improve the overall performance of missile systems by taking advantage of the synergism existing between the subsystems. This paper examines the proposed integrated guidance and control by using θ - D suboptimal method to the engagement of ground-fixed target. First, the basic longitudinal mathematical integrated guidance and control model is established. next, a new suboptimal control method, called θ - D, is employed to obtain an approximate closed form solution to this integrated guidance and control problem based on approximations to the Hamilton-Jacobi-Bellman equation. Finally, the performance of designed algorithm is verified via numerical simulation, which shows the feasibility and realizability of the proposed method.","PeriodicalId":186975,"journal":{"name":"2015 IEEE International Conference on Information and Automation","volume":"11 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":"129846426","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
A navigation system based on vision and motion fusion information using two UFKs 基于视觉和运动融合信息的导航系统
2015 IEEE International Conference on Information and Automation Pub Date : 2015-10-01 DOI: 10.1109/ICINFA.2015.7279280
Chunming Yan, Jun Luo, Huayan Pu, Shaorong Xie, J. Gu
{"title":"A navigation system based on vision and motion fusion information using two UFKs","authors":"Chunming Yan, Jun Luo, Huayan Pu, Shaorong Xie, J. Gu","doi":"10.1109/ICINFA.2015.7279280","DOIUrl":"https://doi.org/10.1109/ICINFA.2015.7279280","url":null,"abstract":"This paper proposes an autonomous navigation system for mobile robots using two unscented Kalman filters (UKFs) and a slip detector to fuse the vision and motion information. The vision information is extracted from images captured by cameras, while the motion data are gathered by two wheel encoders, an accelerometer and a gyroscope. Firstly, the description of navigation algorithm, including the system overview, the image processing procedure and the coordinate transformation, are presented. Then kinematic models of two UKFs and data integration are introduced. Analyzing the results of experiments, the multi-sensor fusion system has more stability and accuracy in comparison with the single sensor system.","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":"129256867","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
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