发布求助
文献互助 智能选刊 最新文献

2011 IEEE International Conference on Information and Automation最新文献

筛选
英文 中文
Type synthesis and kinematic analysis of a new class Schönflies motion parallel manipulator 新型Schönflies运动并联机器人的类型综合与运动学分析
2011 IEEE International Conference on Information and Automation Pub Date : 2011-06-06 DOI: 10.1109/ICINFA.2011.5949000
Zhibin Li, Y. Lou, Zexiang Li
{"title":"Type synthesis and kinematic analysis of a new class Schönflies motion parallel manipulator","authors":"Zhibin Li, Y. Lou, Zexiang Li","doi":"10.1109/ICINFA.2011.5949000","DOIUrl":"https://doi.org/10.1109/ICINFA.2011.5949000","url":null,"abstract":"In this paper, a class of new spatial 4-DOF Schönflies motion parallel manipulator with four identical chains is presented. This class parallel mechanism is non-redundant, and has the most simple structure and is especially fit for pick and place operations. The type synthesis and mobility analysis is described first, some parallel manipulators are invented for the first time. The inverse and forward kinematics problems for the manipulator are all described, the solution of inverse kinematics and the solution of forward kinematics are all sixteen. The velocity equation of the mechanism is given, and two kinds of singularities are discussed. The results show that the moving platform and the base must be in dissimilar dimension. The workspace of the manipulator is given at last.","PeriodicalId":299418,"journal":{"name":"2011 IEEE International Conference on Information and Automation","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131098883","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
Contour tracking control in position domain for CNC machines 数控机床位置域轮廓跟踪控制
2011 IEEE International Conference on Information and Automation Pub Date : 2011-06-06 DOI: 10.1109/ICINFA.2011.5948956
T. Dam, P. Ouyang
{"title":"Contour tracking control in position domain for CNC machines","authors":"T. Dam, P. Ouyang","doi":"10.1109/ICINFA.2011.5948956","DOIUrl":"https://doi.org/10.1109/ICINFA.2011.5948956","url":null,"abstract":"A common problem with modern manufacturing processes that utilize high speed machining is the ability to accurately track a contour of the end-effector. Various control methods have been developed to increase axial tracking performance in the time domain. This paper discusses a new control method developed in the position domain, and the developed position domain control is applied to a 3-axis CNC machine for contour tracking purpose. In theory, the contour tracking of a position domain controller should be improved when compared to an equivalent time domain controller. This is the case since the tracking error of a reference axis in the position domain does not contribute to the overall contouring error. Simulation of the position domain controller and time domain controller yielded positive result for the position domain controller with improved contour tracking for both linear and circular end-effector motions.","PeriodicalId":299418,"journal":{"name":"2011 IEEE International Conference on Information and Automation","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115381834","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
Experimental studies on kinematics and kinetics of walking with an assistive knee brace 辅助膝托行走运动学和动力学的实验研究
2011 IEEE International Conference on Information and Automation Pub Date : 2011-06-06 DOI: 10.1109/ICINFA.2011.5948961
A. Hung, Hongtao Guo, W. Liao, D. Fong, K. Chan
{"title":"Experimental studies on kinematics and kinetics of walking with an assistive knee brace","authors":"A. Hung, Hongtao Guo, W. Liao, D. Fong, K. Chan","doi":"10.1109/ICINFA.2011.5948961","DOIUrl":"https://doi.org/10.1109/ICINFA.2011.5948961","url":null,"abstract":"Assistive knee brace is a species of wearable lower extremity exoskeletons. Such assistive equipment can enhance people's strength and provide desired locomotion to have advantages over wheelchairs, which are commonly used for patients with mobility disorders. However, the integration between the assistive knee brace and the user is challenging as inaccurate alignments may adversely affect the biomechanics of the knee joint. The goal of this study is to evaluate the changes between normal walking and walking with an assistive knee brace in “off” mode. The assistive knee brace was developed by integrating a multifunctional actuator with a custom-made knee-ankle-foot orthosis in order to minimize excessive shifting and to improve alignment to the knee joint. Spatial and temporal gait parameters, joint kinematics and joint kinetics parameters were compared. In general, the observed results showed that most of the gait parameters were not affected when walking with the knee brace. The only significant differences were found in knee flexion and knee rotational motions. These results indicated that walking with the developed knee brace provided minimal hindrance to the user and assured that assistive torque can be applied to the knee joint.","PeriodicalId":299418,"journal":{"name":"2011 IEEE International Conference on Information and Automation","volume":"91 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114308740","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
A method study of generating digital terrain map for lunar exploration based on the stereo vision 基于立体视觉的月球探测数字地形图生成方法研究
2011 IEEE International Conference on Information and Automation Pub Date : 2011-06-06 DOI: 10.1109/ICINFA.2011.5948973
Jianjun Du, Jinshou He, Jianjun Zhu, Dun Liu
{"title":"A method study of generating digital terrain map for lunar exploration based on the stereo vision","authors":"Jianjun Du, Jinshou He, Jianjun Zhu, Dun Liu","doi":"10.1109/ICINFA.2011.5948973","DOIUrl":"https://doi.org/10.1109/ICINFA.2011.5948973","url":null,"abstract":"It is one of the most important technologies for lunar exploration to reconstruct three-dimensional terrain and generate digital terrain map by the stereo vision. The algorithm of generating digital terrain map based on binocular vision system is studied in this paper. Polar rectification and stereo match are made for image before three-dimensional reconstruction. According to the characteristics of the lunar terrain, grid-based digital terrain map generation method are adopted to reduce memory consume and amount of calculation. Finally, the feasibility of the algorithms proposed in the paper is verified by experiments.","PeriodicalId":299418,"journal":{"name":"2011 IEEE International Conference on Information and Automation","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114609901","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
Optical axis stabilization of semi-strapdown seeker based on disturbance observer 基于扰动观测器的半捷联导引头光轴稳定
2011 IEEE International Conference on Information and Automation Pub Date : 2011-06-06 DOI: 10.1109/ICINFA.2011.5949054
G. Sun, Mingchao Zhu, Shengli Yin, H. Jia
{"title":"Optical axis stabilization of semi-strapdown seeker based on disturbance observer","authors":"G. Sun, Mingchao Zhu, Shengli Yin, H. Jia","doi":"10.1109/ICINFA.2011.5949054","DOIUrl":"https://doi.org/10.1109/ICINFA.2011.5949054","url":null,"abstract":"Based on the kinematics of semi-strapdown seeker, the framework coordinate of the seeker is established. The optical axis stability equation of semi-strapdown seeker is deduced by using attitude transformation matrix. Then, the stability control principle block diagram of semi-strapdown seeker is shown based on the stability equation. The main factors that influence the stabilization precision are pointed out, such as friction disturbance, velocity-measuring noise and missile disturbance. In order to improve the stabilization precision, disturbance observer was proposed in semi-strapdown seeker stability control. The low frequency external disturbance and high frequency velocity measurement noise are effectively restrained by the disturbance observer as shown in hardware-in-loop simulation, and optical axis stabilization precision is improved nearly 20 times and 5 times due to two different frequencies with same amplitude.","PeriodicalId":299418,"journal":{"name":"2011 IEEE International Conference on Information and Automation","volume":"109 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116447465","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
A heuristic task scheduling for multi-pursuer multi-evader games 多追踪者多逃避博弈的启发式任务调度
2011 IEEE International Conference on Information and Automation Pub Date : 2011-06-06 DOI: 10.1109/ICINFA.2011.5949050
Shiyuan Jin, Z. Qu
{"title":"A heuristic task scheduling for multi-pursuer multi-evader games","authors":"Shiyuan Jin, Z. Qu","doi":"10.1109/ICINFA.2011.5949050","DOIUrl":"https://doi.org/10.1109/ICINFA.2011.5949050","url":null,"abstract":"This paper introduces a divide-and-conquer, heuristic task scheduling optimization approach on the challenging multi-pursuer multi-evader (MPME) games in which pursuers attempt to minimize the time to capture all evaders whereas evaders try to maximize the capture time. The MPME task scheduling problem is solved through a two-step hierarchical approach. At the high level, the game is divided into a number of subgames or teams using a combination of Voronoi diagram and a negotiation-based mechanism (through heuristic objective functions) to make the pursuit more efficient. At the low level, pursuers within each team are directed locally by their team leader to pursue an evader which runs slower or faster. We mainly focus on a position scheduling problem of how pursuers in a team can surround a faster evader as quickly as possible before entering into the capture phase. Instead of using computation intensive approaches, we use heuristics to solve the complex scheduling problems. In addition to focusing on the pursuer side, evader cooperation is also briefly discussed. Simulation results show the effectiveness of the proposed approach.","PeriodicalId":299418,"journal":{"name":"2011 IEEE International Conference on Information and Automation","volume":"558 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127075597","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: 10
A novel strategy to label abnormalities for Wireless Capsule Endoscopy frames sequence 一种新的无线胶囊内窥镜帧序列异常标记策略
2011 IEEE International Conference on Information and Automation Pub Date : 2011-06-06 DOI: 10.1109/ICINFA.2011.5949021
Dongmei Chen, M. Meng, Haibin Wang, Chao Hu, Zhiyong Liu
{"title":"A novel strategy to label abnormalities for Wireless Capsule Endoscopy frames sequence","authors":"Dongmei Chen, M. Meng, Haibin Wang, Chao Hu, Zhiyong Liu","doi":"10.1109/ICINFA.2011.5949021","DOIUrl":"https://doi.org/10.1109/ICINFA.2011.5949021","url":null,"abstract":"Wireless Capsule Endoscopy (WCE) is the most accurate, patient-friendly diagnostic tool that allows physicians to see the patient's whole gastrointestinal tract, especially the small intestine. However, reviewing capsule endoscopic video is a labor intensive task and very time consuming. Also the diagnosis process by WCE videos is not real-time. All above limitations motivate us to develop an approach to automatically detect the abnormalities in real time. In this paper we propose a novel strategy to detect abnormal frame for WCE videos. The key idea of the proposed strategy is to define the Frame Abnormality Index (FAI) using the ratio of training and testing data densities, where training dataset only consist of normal samples and testing dataset consist of both normal and abnormal samples. We select training and testing database from several WCE video segments to do our pilot experiment. Experimental results show that the proposed strategy achieves promising performances.","PeriodicalId":299418,"journal":{"name":"2011 IEEE International Conference on Information and Automation","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127094795","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: 21
Map building for mobile robot based on distributed control technology 基于分布式控制技术的移动机器人地图生成
2011 IEEE International Conference on Information and Automation Pub Date : 2011-06-06 DOI: 10.1109/ICINFA.2011.5949002
S. Jia, Ke Wang, Xiuzhi Li, Wei Cui, Jinhui Fan, Jinbo Sheng
{"title":"Map building for mobile robot based on distributed control technology","authors":"S. Jia, Ke Wang, Xiuzhi Li, Wei Cui, Jinhui Fan, Jinbo Sheng","doi":"10.1109/ICINFA.2011.5949002","DOIUrl":"https://doi.org/10.1109/ICINFA.2011.5949002","url":null,"abstract":"In this paper, we presents an efficient Simultaneous Localization and Map-Building (SLAM) technique for indoor mobile robot navigation based on Laser Range Finder and Rao-Blackwellized Particle Filter (RBPF). Robot Technology Middleware (RTM) was used in the developed system. By using RTM, we can develop functional elements as “RT software components” that can be implemented by different programming languages, run in different operating system, or connected in different networks to inter-operate. Based on RTM, we developed LRF data getting component, mobile robot control component, data buffer component, RBPF component, matching component, local map component and GUI component. This paper describes the architecture of the proposed system and gives some experimental results.","PeriodicalId":299418,"journal":{"name":"2011 IEEE International Conference on Information and Automation","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130756293","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
A useful Doppler radar outlier elimination algorithm based on orthogonality of innovation 一种实用的基于正交性创新的多普勒雷达离群值消除算法
2011 IEEE International Conference on Information and Automation Pub Date : 2011-06-06 DOI: 10.1109/ICINFA.2011.5948985
Hongyang Bai, X. Xue
{"title":"A useful Doppler radar outlier elimination algorithm based on orthogonality of innovation","authors":"Hongyang Bai, X. Xue","doi":"10.1109/ICINFA.2011.5948985","DOIUrl":"https://doi.org/10.1109/ICINFA.2011.5948985","url":null,"abstract":"In order to solve the problem that the precision and stability of Doppler radar/Fiber Optical Gyroscope Strapdown Inertial Naivgation System (FOG-SINS)/Barometer Integrated Navigation System (DFBINS) for helicopters will be highly affected if there are outliers in doppler radar, especially consecutive outliers appear, a useful method to eliminate these outliers based on orthogonality of innovation is proposed in this paper. Outliers in Doppler radar can be detected by judging whether the orthogonality of innovation in Kalman filter is lost or not, and an activation function as the weight factor to each element of observation is assigned, so it can keep innovation sequence of kalman filter orthogonal and outliers can be detected and corrected. The excellent results of digital simulation for a long distance straight line flying test show that the modified method is effectively resistant to the adverse effects on accuracy and stability of DFBINS caused by outliers in Doppler radar, the proposed algorithm is of high value in practice.","PeriodicalId":299418,"journal":{"name":"2011 IEEE International Conference on Information and Automation","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129263200","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
3D tracking using rectangular regions in structured scenes 在结构化场景中使用矩形区域的3D跟踪
2011 IEEE International Conference on Information and Automation Pub Date : 2011-06-06 DOI: 10.1109/ICINFA.2011.5949019
Kun Peng, Lulu Hou, Jing Kong, Ren Ren, Xianghua Ying, H. Zha
{"title":"3D tracking using rectangular regions in structured scenes","authors":"Kun Peng, Lulu Hou, Jing Kong, Ren Ren, Xianghua Ying, H. Zha","doi":"10.1109/ICINFA.2011.5949019","DOIUrl":"https://doi.org/10.1109/ICINFA.2011.5949019","url":null,"abstract":"This paper presents a practical 3D tracking method using rectangular regions in structured scenes. The dominant orthogonal vanishing points and some projections of rectangular regions (PRR) are detected from the first frame of a video sequence. Then the focal length of the camera and the height/width ratios for each rectangle are determined. The full camera position and orientation are tracked using the intensity differences among the frame sequences. The advantage of the method is that it can obtain all initial tracking parameters only from the first frame while previous methods may require the first 100 frames or more for initialization, which makes the proposed method very suitable for real-time applications.","PeriodicalId":299418,"journal":{"name":"2011 IEEE International Conference on Information and Automation","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125423635","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
首页 上一页 下一页 尾页
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整，为了账户安全，请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
请完成安全验证×
相关产品
×
本文献相关产品
联系我们：info@booksci.cn Book学术提供免费学术资源搜索服务，方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号：604180095
Book学术官方微信