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2008 IEEE International Conference on Robotics and Biomimetics最新文献

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New fuzzy logic-based arithmetic and visual representations for systems' modelling and optimization 基于模糊逻辑的系统建模与优化新算法与可视化表示
2008 IEEE International Conference on Robotics and Biomimetics Pub Date : 2009-02-22 DOI: 10.1109/ROBIO.2009.4913089
W. Gabr, H. Dorrah
{"title":"New fuzzy logic-based arithmetic and visual representations for systems' modelling and optimization","authors":"W. Gabr, H. Dorrah","doi":"10.1109/ROBIO.2009.4913089","DOIUrl":"https://doi.org/10.1109/ROBIO.2009.4913089","url":null,"abstract":"This paper is directed towards developing two new fuzzy logic-based representations for systems modelling and optimization using the notion of the normalized fuzzy matrices. The first is the arithmetic type based on dual cell representation, expressed by replacing each parameter with a pair of parentheses, the first is the actual value and the second is corresponding fuzzy level, (Value, Fuzzy Level). The second is the visual type based on coloured cells representation expressed by replacing each parameter by its value and a coded (newly defined negative or positive colours based on the colour Hue circle) corresponding to its fuzzy level. For both cases, the theoretical foundations of the fuzzy logic algebra are presented for various cases of operations.","PeriodicalId":321332,"journal":{"name":"2008 IEEE International Conference on Robotics and Biomimetics","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-02-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121433099","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: 18
Measurement loss effect on power system state estimation 测量损耗对电力系统状态估计的影响
2008 IEEE International Conference on Robotics and Biomimetics Pub Date : 2009-02-22 DOI: 10.1109/ROBIO.2009.4913116
K. Greyson, A. Oonsivilai
{"title":"Measurement loss effect on power system state estimation","authors":"K. Greyson, A. Oonsivilai","doi":"10.1109/ROBIO.2009.4913116","DOIUrl":"https://doi.org/10.1109/ROBIO.2009.4913116","url":null,"abstract":"The main objective of this research work is to classify measurements units in optimal measurement environments in the power system network. Firstly, the use of singular value decomposition is used to find the optimal measurements placement. This is the optimum environment where each measurement unit is given weight upon its effect on the state estimation accuracy. Loss of the measurement unit can be due to the bad data received and the measurement is discarded or not telemetered due to the communication link error. In this case the respective relative error in state estimation is obtained by using MATLAB simulation. The higher weighted as considered to be critical and less weighted are considered non critical measurements are identified in the power system. In this paper related quantities that are more affected are identified.","PeriodicalId":321332,"journal":{"name":"2008 IEEE International Conference on Robotics and Biomimetics","volume":"140 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-02-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122544970","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
Adaptive cruise control for an intelligent vehicle 智能车辆的自适应巡航控制
2008 IEEE International Conference on Robotics and Biomimetics Pub Date : 2009-02-22 DOI: 10.1109/ROBIO.2009.4913274
Worrawut Pananurak, Somphong Thanok, M. Parnichkun
{"title":"Adaptive cruise control for an intelligent vehicle","authors":"Worrawut Pananurak, Somphong Thanok, M. Parnichkun","doi":"10.1109/ROBIO.2009.4913274","DOIUrl":"https://doi.org/10.1109/ROBIO.2009.4913274","url":null,"abstract":"In this research, an adaptive cruise control system is developed and implemented on an AIT intelligent vehicle. To develop the adaptive cruise control system, the original throttle system and braking system of the vehicle have to be modified. The original throttle valve which is controlled by a cable from the accelerator pedal is modified to the drive-by-wire system by using a dc motor with a position control algorithm. The braking system is modified by using a dc servo motor to directly control the brake pedal. A proportional and derivative control with error compensation algorithm is proposed to perform the velocity control mode. In the distance control mode, a fuzzy logic algorithm is applied. Inputs of the fuzzy controller are distance error and relative velocity read from a laser range finder. The experiments on a racing circuit show that the vehicle can perform adaptive cruise control efficiently.","PeriodicalId":321332,"journal":{"name":"2008 IEEE International Conference on Robotics and Biomimetics","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-02-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126396772","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: 68
Behavior-based steering control for four wheel independent steering vehicle 基于行为的四轮独立转向车辆转向控制
2008 IEEE International Conference on Robotics and Biomimetics Pub Date : 2009-02-22 DOI: 10.1109/ROBIO.2009.4913059
Tin Lun Lam, Huihuan Qian, Yangsheng Xu
{"title":"Behavior-based steering control for four wheel independent steering vehicle","authors":"Tin Lun Lam, Huihuan Qian, Yangsheng Xu","doi":"10.1109/ROBIO.2009.4913059","DOIUrl":"https://doi.org/10.1109/ROBIO.2009.4913059","url":null,"abstract":"This paper proposed a behavior-based steering controller for four wheel independent steering vehicle. The proposed controller acts as virtual linkages among each wheel to minimize wheel slip resulted by the misalignment of the orientations of wheels effectively. As there is no trajectory planning needed in the control algorithm, the proposed controller is especially suitable for non-autonomous vehicle which the driving path cannot be pre-determined. Numerical simulations to examine the performance of the proposed controller are implemented. Results show the effectiveness and robustness of the proposed behavior-based controller.","PeriodicalId":321332,"journal":{"name":"2008 IEEE International Conference on Robotics and Biomimetics","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-02-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121653655","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 CDMA acoustic communication system for multiple underwater robots 一种用于多水下机器人的CDMA水声通信系统
2008 IEEE International Conference on Robotics and Biomimetics Pub Date : 2009-02-22 DOI: 10.1109/ROBIO.2009.4913226
Shuxiang Guo, Zixin Zhao, Qinxue Pan
{"title":"A CDMA acoustic communication system for multiple underwater robots","authors":"Shuxiang Guo, Zixin Zhao, Qinxue Pan","doi":"10.1109/ROBIO.2009.4913226","DOIUrl":"https://doi.org/10.1109/ROBIO.2009.4913226","url":null,"abstract":"In this paper, a kind of underwater acoustic communication system based on CDMA (Code Division Multiple Access) for multiple underwater robots is proposed. This system enables multiple underwater robots to communicate with the console on the surface of water simultaneously successfully. The whole communication process is composed of channel encoding and decoding, spread spectrum modulation and demodulation, RF (Radio Frequency) modulation and demodulation. The effect of underwater channel on the quality of communication is also taken into account. The simulation results indicate that it is feasible to use this system to accomplish communication underwater reliably due to the small BER (Bit Error Ratio).","PeriodicalId":321332,"journal":{"name":"2008 IEEE International Conference on Robotics and Biomimetics","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-02-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123850658","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
Simultaneous pedestrian and multiple mobile robots localization using distributed extended Kalman filter 基于分布式扩展卡尔曼滤波的行人和多个移动机器人同步定位
2008 IEEE International Conference on Robotics and Biomimetics Pub Date : 2009-02-22 DOI: 10.1109/ROBIO.2009.4913148
I. Song, D. Kim, H. Ahn, V. Shin
{"title":"Simultaneous pedestrian and multiple mobile robots localization using distributed extended Kalman filter","authors":"I. Song, D. Kim, H. Ahn, V. Shin","doi":"10.1109/ROBIO.2009.4913148","DOIUrl":"https://doi.org/10.1109/ROBIO.2009.4913148","url":null,"abstract":"This paper is concerned with distributed extended Kalman filtering (DEKF) for simultaneous pedestrian and multiple mobile robots localization. Here, extended Kalman filter (EKF) is applied to the multiple robots for the pedestrian localization. The estimate from each robot is fused by distributed algorithm to improve the accuracy. Furthermore, we used multiple robots formation control to keep a triangle formation at the same time. The focus of this paper is to investigate the effect of the proposed algorithm on simultaneous localization accuracy. A Monte Carlo simulation result is presented to demonstrate the efficiency in localization accuracy of the distributed fusion of EKFs.","PeriodicalId":321332,"journal":{"name":"2008 IEEE International Conference on Robotics and Biomimetics","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-02-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125256808","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 study of performances on an automatic IEEE 802.11g wireless-standard robot using infrared sensors 采用红外传感器的自动IEEE 802.11g无线标准机器人的性能研究
2008 IEEE International Conference on Robotics and Biomimetics Pub Date : 2009-02-22 DOI: 10.1109/ROBIO.2009.4913232
A. Leelasantitham, P. Chaiprapa
{"title":"A study of performances on an automatic IEEE 802.11g wireless-standard robot using infrared sensors","authors":"A. Leelasantitham, P. Chaiprapa","doi":"10.1109/ROBIO.2009.4913232","DOIUrl":"https://doi.org/10.1109/ROBIO.2009.4913232","url":null,"abstract":"This paper presents a study of performances on an automatic wireless robot using IEEE 802.11g standard and infrared sensors. The robot acts a personal computer (PC) controlling equipments (e.g. motors) through a printer port. Window XP is setup on the PC robot which is received a command from notebook (only Start / Stop commands) linked through the use of a wireless router and a real-time streaming protocol (RTSP) program. The study of performances on the automatic wireless robot is tested in three patterns of obstacles i.e. ┐,┌ and Π. In the results, the robot can avoid a hindrance when infrared sensors detect the obstacles, then it will move backward direction in the length of 60 cm and move forward direction in the angle of 45°. The sensors can detect colors (except black color) and opaque but they cannot detect clear glass. In addition, the delay time and the maximum distance of transmitting and receiving images are approximately at 0.1s and 40m, respectively.","PeriodicalId":321332,"journal":{"name":"2008 IEEE International Conference on Robotics and Biomimetics","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-02-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131233747","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: 9
Finger extraction from scene with grayscale morphology and BLOB analysis 基于灰度形态学和BLOB分析的场景手指提取
2008 IEEE International Conference on Robotics and Biomimetics Pub Date : 2009-02-22 DOI: 10.1109/ROBIO.2009.4913024
D. Nguyen, T. Pham, X. Pham, S. Jin, J. Jeon
{"title":"Finger extraction from scene with grayscale morphology and BLOB analysis","authors":"D. Nguyen, T. Pham, X. Pham, S. Jin, J. Jeon","doi":"10.1109/ROBIO.2009.4913024","DOIUrl":"https://doi.org/10.1109/ROBIO.2009.4913024","url":null,"abstract":"In this paper, we describe a method to detect human fingers from images captured by a stereo camera. The images captured by the stereo camera are preprocessed by a skin detection module. Two hands are extracted from the skin regions using disparity information. We then apply grayscale morphology and use BLOB analysis to detect fingers and their directions. The method is simple yet powerful for finger detection. This extraction result can be used for posture and gesture recognition tasks in computer vision.","PeriodicalId":321332,"journal":{"name":"2008 IEEE International Conference on Robotics and Biomimetics","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-02-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133527624","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: 16
Face recognition using AAM and global shape features 基于AAM和全局形状特征的人脸识别
2008 IEEE International Conference on Robotics and Biomimetics Pub Date : 2009-02-22 DOI: 10.1109/ROBIO.2009.4913106
J. Chen, Han-Pang Huang
{"title":"Face recognition using AAM and global shape features","authors":"J. Chen, Han-Pang Huang","doi":"10.1109/ROBIO.2009.4913106","DOIUrl":"https://doi.org/10.1109/ROBIO.2009.4913106","url":null,"abstract":"A new technique for face recognition is proposed, which uses Active Appearance Model (AAM) to extract facial feature points and uses global shape features to recognize face. To enhance performance of AAM, we use Adaboost to locate positions of eyes. After extraction of facial feature points, we use any two points of global shape features and compute the distance of two points as a descriptor to construct the whole descriptors of a face. To reduce computation, we use Principle component analysis (PCA) to reduce the dimensions of descriptors. Moreover, either Support Vector Machines (SVMs) or K-Nearest-Neighbor (K-NN) is used to increase recognition rates. In contrast with the conventional recognition algorithm such as Eigenfaces, our method performs better under varying illumination because we use global shape features rather than gray scale pixel values. At last, we demonstrate our approach by experiments.","PeriodicalId":321332,"journal":{"name":"2008 IEEE International Conference on Robotics and Biomimetics","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-02-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131838556","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
Hybrid algorithm for segmentation and tracking in surveillance 监控中分割与跟踪的混合算法
2008 IEEE International Conference on Robotics and Biomimetics Pub Date : 2009-02-22 DOI: 10.1109/ROBIO.2009.4913036
Huihuan Qian, Xinyu Wu, Y. Ou, Yangsheng Xu
{"title":"Hybrid algorithm for segmentation and tracking in surveillance","authors":"Huihuan Qian, Xinyu Wu, Y. Ou, Yangsheng Xu","doi":"10.1109/ROBIO.2009.4913036","DOIUrl":"https://doi.org/10.1109/ROBIO.2009.4913036","url":null,"abstract":"In this paper, an integrated video surveillance system for robust tracking is introduced. In the blob detection part, an optical flow algorithm for crowded environment is studied experimentally and a comparison study with respect to traditional subtraction approach is carried out. In the segmentation part, different algorithms are fused to develop a hybrid algorithm for stable segmentation, and validation rules for successful segmentation are also presented preventing from false segmentation. In the tracking part, a blob's parameter, which we call color spectrum, is developed to identify different persons and track them robustly. A hybrid algorithm for tracking is also developed to combine color tracking with traditional distance tracking. The hybrid algorithms in segmentation and tracking enable the system to track persons when they change movement unpredictably in occlusion. Experimental results validate the proposed algorithm.","PeriodicalId":321332,"journal":{"name":"2008 IEEE International Conference on Robotics and Biomimetics","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-02-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134175814","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
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