2004 International Conference on Intelligent Mechatronics and Automation, 2004. Proceedings.最新文献

{"title":"Location research of mobile robot with an omni-directional camera","authors":"W. Liang, Zhu Qidan, Liu Zhou","doi":"10.1109/ICIMA.2004.1384277","DOIUrl":"https://doi.org/10.1109/ICIMA.2004.1384277","url":null,"abstract":"In this paper, we propose a method for the visual-based location of a mobile robot with an omni-directional camera in indoor environment. Omni-directional camera is composed of conventional camera and convex mirror. It has large field of view, which further reduces the number of images necessary to represent a location. The stmctnre, p~operty anti geometry of the omni-directional camera are presented. The principle of trigonometric location is also presented. We use trigonometric location and data derived from omni-directional image processing to realize robot location. Preliminary location experiments with a mobile robot equipped with an omni-directional camera in indoor environment are performed. The result of experiments shows that the proposed method has good performance.","PeriodicalId":375056,"journal":{"name":"2004 International Conference on Intelligent Mechatronics and Automation, 2004. Proceedings.","volume":"64 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127111130","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":"Power-efficient routing in sensor information systems","authors":"Yimin Liu, Ping Liu","doi":"10.1109/ICIMA.2004.1384260","DOIUrl":"https://doi.org/10.1109/ICIMA.2004.1384260","url":null,"abstract":"Wireless sensor networks are finding applications in a variety of areas such as environmental monitoring, military target detection and border surveillance. One of the most significant outstanding challenges is the stringent constraint on energy consumption. In this paper, we present a novel energy-efficient routing protocol called THEEM (Two- Hop Energy-Eficient Mesh) for wireless sensor networks. In the THEEM protocol, :a two-hop scheme and a centralized mesh (cluster) formation method are employed along with other design innovations, such as the concepts of mesh layer/column, power-aware meshhead assignment and a low-energy media access protocol, to achieve energy efficiency. This protocol reduces energy consumption quite significantly and thus prolongs the longevity of a sensor network. In the meantime, it increases network data throughput. Moreover, equal energy dissipation among all sensor nodes in a network is achieved. Simulation results show that the THEEM protocol performs much better in terms of all the above criteria when compared with other wireless sensor network routing protocols.","PeriodicalId":375056,"journal":{"name":"2004 International Conference on Intelligent Mechatronics and Automation, 2004. Proceedings.","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128802977","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":"Speech recognition and its application in voice-based robot control system","authors":"Luo Zhi-zeng, Zhao Jingbing","doi":"10.1109/ICIMA.2004.1384339","DOIUrl":"https://doi.org/10.1109/ICIMA.2004.1384339","url":null,"abstract":"This paper is about the application of speech recognition in robot control system. The robot vocal commands are limited in flfty words, such as go origin, up, down, turn right, turn left etc. The means of speech signal processing, include by taking reciprocal spectrum of Linear Predicted Coeficlent (LPC) as a eigenvector, the pattern-comparison technique and dynamic time warping (DTW), are used in the speech recognition. In a small acoustic vocabulary recognition application system, the pattern-eomparison method based on reciprocal spectrum of LPC i s more suitable than the other complex algorithm, especially in the recognition of isolated words. Recognition is realized on a personal computer. The recognized speech is converted to command, sent to the robot control system via the serial pori RS232. The voice control system of robot is developed.","PeriodicalId":375056,"journal":{"name":"2004 International Conference on Intelligent Mechatronics and Automation, 2004. Proceedings.","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130012055","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":"Study on crack detection of beam using harmonic responses","authors":"Myong-Bom Kim, Mei Zhao","doi":"10.1109/ICIMA.2004.1384165","DOIUrl":"https://doi.org/10.1109/ICIMA.2004.1384165","url":null,"abstract":"In this paper, a torsional spring is adopted to simulate a crack in a cantilever beam, approximated dispilacement and slope modes of the cracked cantilever beam are obtained. Its displacement and slope responses under single harmonic excitation and zero initial conditions are obtained by using approximated modes. It is shown that slope responses of the cracked cantilever beam has stepping type change at crack location and its partial derivative with respect to x has peak type change. From these dynamiic characteristics of cracked cantilever beam, a crack detection criterion using slope responses under harmonic excitation is proposed. Moreover, numerical examples and experimental results show that the crack location and depth can be identified by proposed criterion.","PeriodicalId":375056,"journal":{"name":"2004 International Conference on Intelligent Mechatronics and Automation, 2004. Proceedings.","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127856406","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":"Decision tree induction based on autocortelation function","authors":"Zhang Shuyu, Zhu Zhongying","doi":"10.1109/ICIMA.2004.1384318","DOIUrl":"https://doi.org/10.1109/ICIMA.2004.1384318","url":null,"abstract":"Abslracf-The paper introduces definition of autocorrelation function and theory of perturbation. Time sequence model is different from ordinary linear regression model. The ordinary methods of detecting abnormal value do not have good effectiveness for time sequences such as data deletion method and single point derivation method. In order to detect the strong influence points in time sequences, we discuss the perturbation theory of autocorrelation function with several minute perturbations. A new kind of decision tree based on Autocorrelation Function (AF) is developed. The simulation results show the effectiveness and accuracy of the decision tree.","PeriodicalId":375056,"journal":{"name":"2004 International Conference on Intelligent Mechatronics and Automation, 2004. Proceedings.","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124449817","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":"Techniques of fault self-diagnosis for intelligent detection system","authors":"Lei Lin, Wang Hou-jun","doi":"10.1109/ICIMA.2004.1384329","DOIUrl":"https://doi.org/10.1109/ICIMA.2004.1384329","url":null,"abstract":"People researched fault selfdiagnosis for IDS (Intelligent Detection System) in order to monitor IDS efiiciently, ensure IDS work normally, improve its reliability and precision. The Principle of IDS is camera theory: applying a serial of excitation signal on fhe object, detecting corresponding response, and then analydng and deducing whether the object get out of order. We realize fault selfdiagnosis with internal microcomputer or microprocessor, fault diagnosis circuit and software. There are concretely two methods: redundancy technique, try to discover and avert from the influence of any fault when it generates; or detect and diagnose fault and clear it in time. According to the typical fmm OT IDS Structure, this paper thoroughly studies the methods and techniques for faults selfdiagnosis in each subsystem of the IDS. It also put forward the algorithm and flows for staring, keying, and period self- diagnosis. Strong application value showed in practice.","PeriodicalId":375056,"journal":{"name":"2004 International Conference on Intelligent Mechatronics and Automation, 2004. Proceedings.","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124458284","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":"Design of a two-arm robotic system for surfaces polishing","authors":"F. Lin, Tiansheng Lu","doi":"10.1109/ICIMA.2004.1384342","DOIUrl":"https://doi.org/10.1109/ICIMA.2004.1384342","url":null,"abstract":"Two-arm robots can get a greater structure aRer machining has its speciality compared to other machining flexibility and a better maneuverability, In this paper, instead of process , the purpose of polishing is to reduce surface manual polishing work, a dual industrial robots coordination roughness and improve the surface quality, rather than system for the complex surfaces polishing work is presented. An changing the geometric shape of the surface. Surface adaptive path generation algorithm is proposed for the polishing is more dexterous but the payload is smaller. determination of elficient tool paths. The kinematic models of Polishing also does not require as high a positioning accuracy, two robots and a novel coordinating of two robots for complex Thus, articulated robots, are potentially more suitable for surfaces polishing are established. The effectiveness of the surface polishing automation than machine tools(4). proposed polishing system is proved through computer Only one robot in a common work spacc limits the simulations and through polishing experiments. classes of tasks that can be performed, The coordinated operation of two robots in a work space can improve potential application area of robots, which are beyond the capability of a single robot or the performance can be improved by using polishing, a kind of finishing process done after machining two robot manipulators. Just as a human which uses two arms is necessary to obtain a good surface roughness as well as the has an advantage Over one using one arm and cooperative form accuracy. The automation of machining process has been robot systems have much more advantages than single robot. automated by the process of computer numerical control(CNC) (1) to obtain a larger robot work envelope and a great and computer-aided desigdcomputer-aided capability. @)to get a greater stmcture flexibility and a better manufacturing(CAD/CAM), however, the automation of maneuverability, two robot coordinated system can polishing still remains'behind due to the speciality ofthe work. reconfigure itself to cover three types of five-axis machining Most of polishing process are being manually conducted by ConfigUratiOnS, a continual process can be achieved by operators, depending on their skill and experience, However, continually maneuvering the workpiece during the operation manual polishing is expensive, time consuming, labour execution, this makes the system more flexible than the intensive, and error prone(l,2). Therefore, Manual and old traditional five-axk CNC machine(6). In this paper, a novel conventional machine polishing methods are gradually configuration for complex surfaces polishing is presented. One becoming obsolete, the need for better part quality and flexible, robot grasping the workpiece must be coordinated to align the more efficient, and cost effective manufacturing methods has Polishing Point surface \"ml to be anti-parallel to the encouraged new me&,,ized polishing approaches a","PeriodicalId":375056,"journal":{"name":"2004 International Conference on Intelligent Mechatronics and Automation, 2004. Proceedings.","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131937795","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":"Study of strapdown inertial navigation integration algorithms","authors":"Yanling Hao, Z. Xiong, Wei Gao, L. Li","doi":"10.1109/ICIMA.2004.1384296","DOIUrl":"https://doi.org/10.1109/ICIMA.2004.1384296","url":null,"abstract":"This paper proposes an approach to update the attitude and velocity synchronously utilizing the fourth order Runge-Kutta in the strapdown inertial navigation system. The synchro-updating algorithm is designed for the condition, in which the outputs of gyroscope are the angular rate and the outputs of accelerometer are the specific force acceleration. The synchro-updating algorithm is based on the quaternion. Under the improved classical coning motion and the generalized vibrational motion respectively, this paper analyzes and compares the attitude error and velocity error of the above algorithm with other algorithms'. The simulation results show that the synchro-updating algorithm is more effective than the others for the angular rate outputs and the specific force outputs.","PeriodicalId":375056,"journal":{"name":"2004 International Conference on Intelligent Mechatronics and Automation, 2004. Proceedings.","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124379276","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":"Robust depth estimation for mobile robot navigation","authors":"Zhiguang Zhong, J. Yi, Dongbin Zhao, Y. Hong, Xinzheng Li","doi":"10.1109/ICIMA.2004.1384341","DOIUrl":"https://doi.org/10.1109/ICIMA.2004.1384341","url":null,"abstract":"The depth estimation of a scene is very useful for solving problems like mobile robot navigation. This paper presents a novel and robust depth estimation approach based on feature points. Only two feature points are selected from an object. They are at the same height'from a ground plane, which is different from all reported depth estimation methods. When a camera moves at arbitrary direction to the object, consecutive two images containing the two feature points are taken. The depth oi the two featore points before and after the camera moves can be computed at a time according to the image coordinates of them. A search algorithm is also presented to enhance the precision of the computed depth and the robustness of this estimation approach. It can automatically find more correct image coordinates of the two feature points based on the really detected image coordinates. Experiments results show that it is effective and can enhance greatly the precision of the computed depth.","PeriodicalId":375056,"journal":{"name":"2004 International Conference on Intelligent Mechatronics and Automation, 2004. Proceedings.","volume":"80 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124638014","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":"An automobile semi-active suspension system using neural network control and simulation","authors":"Rong Yiming, Bao Xiangying","doi":"10.1109/ICIMA.2004.1384186","DOIUrl":"https://doi.org/10.1109/ICIMA.2004.1384186","url":null,"abstract":"Absrracr Based on the 112 automobile nonlinear model and the diagonally recurrent neural network model, an automobile semi-active suspension system using neural network control and simulation is established. An off-line identification is proceeded on this model using an optimal control. Neural control and simulation are also performed on this model and the simulative results are analyzed and summarized.","PeriodicalId":375056,"journal":{"name":"2004 International Conference on Intelligent Mechatronics and Automation, 2004. Proceedings.","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124332962","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}