Hongkai Zhang, Niansheng Chen, Guangyu Fan, Dingyu Yang
{"title":"An improved scan matching algorithm in SLAM","authors":"Hongkai Zhang, Niansheng Chen, Guangyu Fan, Dingyu Yang","doi":"10.1109/ICSAI48974.2019.9010259","DOIUrl":"https://doi.org/10.1109/ICSAI48974.2019.9010259","url":null,"abstract":"Simultaneous localization and mapping (SLAM) technology has always been the research focus of robot navigation in unknown environment. Aiming at the problem of cumulative errors of robot pose in the localization process of SLAM algorithm based on particle filter, a loop detection algorithm based on graph-SLAM was proposed. The algorithm uses constraints to adjust the robot attitude at different moments. In this paper, the constraint refers to the scanning matching of lidar. In the process of drawing, when the robot returns to the known area, if the current laser scanning is successfully matched with the previous laser scanning, the robot's posture can be adjusted to eliminate the accumulated errors caused by the odometer. In the process of laser scanning matching, the method of grouping step threshold value judgment is proposed to match the laser point cloud, which can effectively reduce the computation. Experimental results show that the proposed algorithm can effectively eliminate the cumulative errors of positioning and achieve a better mapping effect.","PeriodicalId":270809,"journal":{"name":"2019 6th International Conference on Systems and Informatics (ICSAI)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124086372","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}
{"title":"Secure load-balanced scheme for cluster-based WSNs","authors":"Jiliang Zhou, Ziqiang Lin, Xi Jiang","doi":"10.1109/ICSAI48974.2019.9010499","DOIUrl":"https://doi.org/10.1109/ICSAI48974.2019.9010499","url":null,"abstract":"Most cluster schemes select cluster head (CH) randomly without considering load balancing and security in Wireless Sensor Networks (WSNs). Our research on relevant literature shows that the existing authentication schemes do not fully consider the load balancing of CHs, while the load balancing schemes ignore the security authentication of CHs. Therefore, this paper effectively combines load balancing and security verification, and proposes a secure load balancing and authentication scheme (SLEB) based on Clustered Wireless Sensor networks. SLEB not only effectively maintains the energy balance of the whole network, but also successfully improves packet forwarding rate and prolongs the network lifetime. The simulation shows that SLEB is energy-saving, safe and sustainable compared with other similar schemes.","PeriodicalId":270809,"journal":{"name":"2019 6th International Conference on Systems and Informatics (ICSAI)","volume":"os-45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127785648","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}
{"title":"The Outlier Elimination of Trajectory Data Based on Kernel Adaptive Filtering with Variable Step Size","authors":"Zhen-xing Li, Biqiu Zhang","doi":"10.1109/ICSAI48974.2019.9010221","DOIUrl":"https://doi.org/10.1109/ICSAI48974.2019.9010221","url":null,"abstract":"An outlier detection and elimination method based on kernel adaptive filtering with variable step size for trajectory data of vehicle test was proposed. The training sample of kernel adaptive filter is designed according to the effective trajectory data. After training, the residual error between the output of the kernel filter and the trajectory can be obtained. If the residual error at some time point is larger than 3 times of the standard deviation of the residual error, the corresponding data point can be considered to be the outlier data based on Wright guidelines, and then the data is instead of the output of the kernel adaptive filter to eliminate the outlier data. To further improve the precision of the outlier data elimination and interpolation, a variable step size algorithm was designed according to the output error of the kernel adaptive filter, in which the step size can be controlled during the iterative process. The proposed method can implement outlier data elimination and interpolation at the same time, which has good robustness and high precision. The simulation and test data processing results show the effectiveness.","PeriodicalId":270809,"journal":{"name":"2019 6th International Conference on Systems and Informatics (ICSAI)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131338562","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}
{"title":"Sleep Breathing Data Analysis Based on Econometrics","authors":"Cai Chen, Wei Li, Dedong Ma","doi":"10.1109/ICSAI48974.2019.9010277","DOIUrl":"https://doi.org/10.1109/ICSAI48974.2019.9010277","url":null,"abstract":"Aim: To analyses the relationship between snoring frequency, breathing rate and heart rate data when people are in sleeping state. Method: Autoregressive model and white noise test in in the econometrics field were used to their correlation degree. Result: Snoring frequency had influence on breathing rate and heart rate.","PeriodicalId":270809,"journal":{"name":"2019 6th International Conference on Systems and Informatics (ICSAI)","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130204294","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}
{"title":"Application Research of two-dimensional code in mobile augmented reality","authors":"Mengde Zhao, Qing Li","doi":"10.1109/ICSAI48974.2019.9010434","DOIUrl":"https://doi.org/10.1109/ICSAI48974.2019.9010434","url":null,"abstract":"Augmented Reality (AR) is an emerging technology that adds computer-generated virtual information to real-world scenarios, thereby enhancing people's understanding of the surrounding real-world environment. With the development of network, augmented reality technology is gradually applied to mobile devices based on smart phones. Augmented reality technology has been widely used in foreign cultural circles, such as ancient architecture research, Museum exhibitions, enhanced travel and campus navigation. At present, our country's mobile augmented reality technology can only aim at a small number of targets, and can not meet the needs of target recognition and tracking for mobile users. On this basis, two-dimensional code is gradually developed in the mobile augmented reality system. A large number of two-dimensional code content coding technology and fast positioning technology can meet the needs of people. Target recognition requirements. Therefore, this paper expounds the general situation of two-dimensional code and mobile augmented reality technology, studies the application of two- dimensional code in mobile augmented reality, and points out its application in library.","PeriodicalId":270809,"journal":{"name":"2019 6th International Conference on Systems and Informatics (ICSAI)","volume":"65 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130278281","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}
{"title":"Detecting Vertebra Landmarks From Ultrasound Image Using Single Shot MultiBox Detector","authors":"Qifeng Deng, Qinghua Huang","doi":"10.1109/ICSAI48974.2019.9010161","DOIUrl":"https://doi.org/10.1109/ICSAI48974.2019.9010161","url":null,"abstract":"In the diagnosis of scoliosis, the position and geometric parameters of the vertebra or spine are important to doctors' diagnoses. Many imaging techniques such as X-ray and Magnetic Resonance Imaging (MRI) can be used for scoliosis detection. Ultrasound imaging (US) is a radiation-free and low-cost way on clinical application in contrast to other imaging techniques. Many methods on Ultrasound imaging were reported to assess the severity of scoliosis. In this paper, we employ Single Shot MutilBox Detector, an end-to-end object detection algorithm based on deep learning, on detecting the vertebra landmarks with ultrasound image. The automatic detection and location of vertebra landmarks is important basis for further analysis and diagnosis of scoliosis and contributes to development on computer aided diagnosis system. The preliminary experiment results on phantom show that our method is high accuracy and feasible in detecting vertebra landmarks.","PeriodicalId":270809,"journal":{"name":"2019 6th International Conference on Systems and Informatics (ICSAI)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130279014","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}
Wei Song, Wanyuan Cai, Jing Li, Fusong Jiang, Shengqi He
{"title":"Predicting Blood Glucose Levels with EMD and LSTM Based CGM Data","authors":"Wei Song, Wanyuan Cai, Jing Li, Fusong Jiang, Shengqi He","doi":"10.1109/ICSAI48974.2019.9010318","DOIUrl":"https://doi.org/10.1109/ICSAI48974.2019.9010318","url":null,"abstract":"Blood glucose monitoring is essential for diabetes management. Applying deep learning technique for blood glucose monitoring is promising, given its success in a range of healthcare and medical tasks. In this paper, we proposed a method that combines Empirical Mode Decomposition (EMD) with Long-Short Term Memory (LSTM) to achieve good experimental results in predicting patient blood glucose. We used patients' real blood glucose levels time series data to train the method proposed in this paper and to predict blood glucose for 30 minutes to 120 minutes. First, we use only blood glucose readings and timestamps in the dataset. Meanwhile, we used ADF to verify the non-stationarity of blood glucose time series. Then, we use EMD to decompose the blood glucose time series and use LSTM to train the decomposed time series to obtain a blood glucose prediction model. Finally, Mean Absolute Error (MAE) and root mean squared error (RMSE) were used to evaluate the experimental results. On the test dataset, the mean values of the MAE and RMSE are 0.4458mmol/L and 1.08mmol/L for 30mins, 0.87 and 1.27 mmol/L for 60mins, 0.85mmol/L and 1.36 mmol/L for 120mins, respectively. Experimental results show that the EMD+LSTM had better predictive performance than the LSTM when blood glucose changed dramatically. Meanwhile, it is still challenging to reach a high accuracy of predicting the long-term blood glucose.","PeriodicalId":270809,"journal":{"name":"2019 6th International Conference on Systems and Informatics (ICSAI)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131698437","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}
{"title":"Low-Frequency Oscillation Mode Identification with OpenPDC Platform","authors":"Jian Zuo, Jihong Tang, Hu Guo, Dijun Hu, Keren Zhang, Meng Xiang","doi":"10.1109/ICSAI48974.2019.9010190","DOIUrl":"https://doi.org/10.1109/ICSAI48974.2019.9010190","url":null,"abstract":"Low frequency oscillation in power system may cause system failure and blackout. It is possible to avoid low frequency oscillation if we can detect the oscillation mode with low damping in early stage. This paper presents the Frequency Domain Decomposition (FDD) method, which can extract the low frequency oscillation modes from ambient measurement data of Phasor Measurement Units(PMU). The parameters of mode shape from poorly damped oscillation modes, such as damping ratio and modal frequency, can be directly determined from ambient PMU measurements. Then this paper presents the implementation of oscillation mode identification application with OpenPDC platform, which is an open-source platform and provides an easy-to-use test platform for phasor measurement application. The case study shows that the implementation of Oscillation Mode Identification module with FDD method and OpenPDC platform is very efficient for processing large quantity of PMU data and identify low frequency oscillation mode, which is key to take early actions avoiding low-frequency oscillation in power system.","PeriodicalId":270809,"journal":{"name":"2019 6th International Conference on Systems and Informatics (ICSAI)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131727088","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}
{"title":"A Scoring System of Oral English-Chinese Translation Based on Frame Semantic Analysis","authors":"Xinguang Li, XiaoLan Long, Yan Long, ChuHua Liang","doi":"10.1109/ICSAI48974.2019.9010095","DOIUrl":"https://doi.org/10.1109/ICSAI48974.2019.9010095","url":null,"abstract":"In recent years, there has been an increasing interest in speech evaluation. However, most of the automatic evaluation systems focus on evaluating the quality of retelling questions and reading questions. In our best knowledge, research evaluating the quality of English-Chinese oral translation questions have not been found. This paper proposed an automatic method for scoring English-Chinese oral translation. This method leveraged three indicators, including key words, general idea of sentences and fluency, as the basis of scoring. The key words indicator was evaluated by the synonym analysis at the lexical level to evaluate while the general idea of sentences indicator was evaluated by the framework semantic analysis at the sentence level. Then, fluency indicator was scored by the speed of the speech. The experimental results demonstrated that using Mel-frequency cepstral coefficients (MFCC) and the Hidden Markov Model (HMM) algorithm to identify the key words, the system achieved average recognition rate in answering keywords of 97.3%. There is a good possibility that the proposed method may be effective for key word recognition.","PeriodicalId":270809,"journal":{"name":"2019 6th International Conference on Systems and Informatics (ICSAI)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131831702","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}
{"title":"Machine Learning Driven Network Routing","authors":"Kun Yu, Li-Zhuang Tan, Xiao-jin Wu, Z. Gai","doi":"10.1109/ICSAI48974.2019.9010507","DOIUrl":"https://doi.org/10.1109/ICSAI48974.2019.9010507","url":null,"abstract":"The research community have proposed some frameworks and use-cases for using machine learning in networking. However, there are still real-time problem and ML model selection problem. In this paper, we present the basic model of machine learning driven network routing. This model divided route optimization into the Optimization of Routing Protocol Parameter(ORPP) and the Optimization of Routing Efficiency and Quality(OREQ). The input and output of the machine learning model for routing optimization problems can be described as traffic matrix and route matrix. In the end, we present two experimental results of ORPP and OREQ to demonstrate this model's feasibility.","PeriodicalId":270809,"journal":{"name":"2019 6th International Conference on Systems and Informatics (ICSAI)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132795600","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}