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Force Threshold-Based Omni-directional Movement for Hexapod Robot Walking on Uneven Terrain 基于力阈值的六足机器人在不平坦地形上的全向运动
2012 Fourth International Conference on Computational Intelligence, Modelling and Simulation Pub Date : 2012-09-25 DOI: 10.1109/CIMSIM.2012.13
A. Irawan, K. Nonami
{"title":"Force Threshold-Based Omni-directional Movement for Hexapod Robot Walking on Uneven Terrain","authors":"A. Irawan, K. Nonami","doi":"10.1109/CIMSIM.2012.13","DOIUrl":"https://doi.org/10.1109/CIMSIM.2012.13","url":null,"abstract":"This paper presents a control strategy for improving the performance of hexapod robot walking on uneven terrain using the combination of designed force threshold-based foot motion and center-of-body (CoB) based omni directional movement. According to the several studies on omni directional movement for legged robot, most of the proposed methods are targeting to avoid the unnecessary uneven ground surfaces and obstacles other than energy efficiencies. Therefore with the proposed method, the main target of study is to overcome the hexapod walking and stepping on the uneven terrain with multi-directional movements. This proposed combination method is done to guarantee the stability of the robot and increasing the flexibility of the robot during rotating and zigzaging on uneven terrain. The model platform for the study is based on hydraulically driven hexapod robot model system named COMET-IV and verified using real-time simulation with a 3D simulator.","PeriodicalId":435030,"journal":{"name":"2012 Fourth International Conference on Computational Intelligence, Modelling and Simulation","volume":"54 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-09-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134532036","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
Performance Comparison between Queueing Theoretical Optimality and Q-Learning Approach for Intersection Traffic Signal Control 排队理论最优与q -学习方法在交叉口交通信号控制中的性能比较
2012 Fourth International Conference on Computational Intelligence, Modelling and Simulation Pub Date : 2012-09-25 DOI: 10.1109/CIMSIM.2012.12
Pitipong Chanloha, W. Usaha, J. Chinrungrueng, C. Aswakul
{"title":"Performance Comparison between Queueing Theoretical Optimality and Q-Learning Approach for Intersection Traffic Signal Control","authors":"Pitipong Chanloha, W. Usaha, J. Chinrungrueng, C. Aswakul","doi":"10.1109/CIMSIM.2012.12","DOIUrl":"https://doi.org/10.1109/CIMSIM.2012.12","url":null,"abstract":"This paper proposes the performance comparison for optimal traffic signal controls based on the following two frameworks: M/M/1 and D/D/1 queueing models, and Q-learning approach. Firstly, using the M/M/1 and D/D/1 models, the optimal split derivation has been obtained to minimise the mean waiting time of an intersection. Additionally, the Q-learning framework has been proposed in conjunction with the use of the macroscopic cell transmission model (CTM) to update the vehicle state dynamics upon Q-learning actions. The two approaches have been compared in terms of the network throughput and the average vehicle delay per completed trip in nine scenarios. The simulation results from the microscopic AIMSUN traffic simulator show that the Q-learning approach can greatly improve the intersection throughput and can significantly reduce the average vehicle delay per completed trip with the respective M/M/1 and D/D/1 approaches.","PeriodicalId":435030,"journal":{"name":"2012 Fourth International Conference on Computational Intelligence, Modelling and Simulation","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-09-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130754927","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: 8
A Technique to Sense Current for Digitally Controlling a Power Factor Correction Boost Rectifier 数字控制功率因数校正升压整流器的电流检测技术
2012 Fourth International Conference on Computational Intelligence, Modelling and Simulation Pub Date : 2012-09-25 DOI: 10.1109/CIMSIM.2012.53
Saadmaan Rahman, Sani Md Ismail, Abu R. Siddique
{"title":"A Technique to Sense Current for Digitally Controlling a Power Factor Correction Boost Rectifier","authors":"Saadmaan Rahman, Sani Md Ismail, Abu R. Siddique","doi":"10.1109/CIMSIM.2012.53","DOIUrl":"https://doi.org/10.1109/CIMSIM.2012.53","url":null,"abstract":"In this paper a digital control technique for power factor correction (PFC) using boost rectifier is proposed. The control technique implements a digital average current mode control which is accomplished by diode current sensing method. The conventional inductor current sensing method produces negative current signal. This sensed signal needs an additional circuit for being applied to digital controller ICs. The proposed technique not only reduces the necessity of additional circuit for the digital IC but also the sensing method consumes less power than the inductor current sensing method. The feasibility of the proposed technique is verified by PFC boost rectifier. The impact and a comparison of the harmonic distortion in the input current using the proposed technique and the conventional technique are also discussed and shown briefly in this paper.","PeriodicalId":435030,"journal":{"name":"2012 Fourth International Conference on Computational Intelligence, Modelling and Simulation","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-09-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114247314","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
Modeling Human Walking for Step Detection and Stride Determination by 3-Axis Accelerometer Readings in Pedometer 基于计步器中3轴加速度计读数的人体步长检测和步幅确定建模
2012 Fourth International Conference on Computational Intelligence, Modelling and Simulation Pub Date : 2012-09-25 DOI: 10.1109/CIMSIM.2012.65
Kashyap R. Tumkur, Suneeth Subbiah
{"title":"Modeling Human Walking for Step Detection and Stride Determination by 3-Axis Accelerometer Readings in Pedometer","authors":"Kashyap R. Tumkur, Suneeth Subbiah","doi":"10.1109/CIMSIM.2012.65","DOIUrl":"https://doi.org/10.1109/CIMSIM.2012.65","url":null,"abstract":"Pedometers are increasingly being used for purposes like assessment of physical activity, rehabilitation, disease management and as a utility for the visually impaired. These devices rely on algorithms that consist of measuring distance covered by the number of steps taken. Conventional estimations of distance covered rely on empirically obtained relations to arrive at their data. In this paper, we present a means of estimating the distance covered by the wearer through a more realistic model using sensor readings from a 3-axis accelerometer present in most pedometers as well as in modern phones and tablets. First comes step detection where each individual step taken by the wearer is identified. Subsequently, we determine stride length, based on the inverted pendulum model and the periodicity of accelerations generated by humans. Lastly, we obtain the total distance covered during the walk. Finally, we analyze the results with respect to currently existing models.","PeriodicalId":435030,"journal":{"name":"2012 Fourth International Conference on Computational Intelligence, Modelling and Simulation","volume":"1 1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-09-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116798516","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: 30
Vector Evaluated Gravitational Search Algorithm (VEGSA) for Multi-objective Optimization Problems 多目标优化问题的矢量评估引力搜索算法(VEGSA
2012 Fourth International Conference on Computational Intelligence, Modelling and Simulation Pub Date : 2012-09-25 DOI: 10.1109/CIMSIM.2012.29
Z. Ibrahim, B. Muhammad, K. Ghazali, Kian Sheng Lim, S. W. Nawawi, Z. Yusof
{"title":"Vector Evaluated Gravitational Search Algorithm (VEGSA) for Multi-objective Optimization Problems","authors":"Z. Ibrahim, B. Muhammad, K. Ghazali, Kian Sheng Lim, S. W. Nawawi, Z. Yusof","doi":"10.1109/CIMSIM.2012.29","DOIUrl":"https://doi.org/10.1109/CIMSIM.2012.29","url":null,"abstract":"This paper presents a novel algorithm, which is based on Gravitational Search Algorithm (GSA), for multiobjective optimization problems. The proposed algorithm, which is called Vector Evaluated Gravitational Search Algorithm (VEGSA), uses a number of populations of particles. In particular, a population of particles corresponds to one objective function to be minimized or maximized. Simultaneous minimization or maximization of every objective function is realized by exchanging a variable between populations. Two versions of VEGSA algorithm are presented in this study. Convex and non-convex test functions on biobjective optimization problems are used to evaluate the effectiveness of the proposed VEGSA.","PeriodicalId":435030,"journal":{"name":"2012 Fourth International Conference on Computational Intelligence, Modelling and Simulation","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-09-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133804090","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: 13
DAPDNA-2 Performance Enhancement Using ALU Partitioning and Saturation Arithmetic for Digital Image/Signal Processing Applications 利用ALU分割和饱和算法增强数字图像/信号处理应用中的DAPDNA-2性能
2012 Fourth International Conference on Computational Intelligence, Modelling and Simulation Pub Date : 2012-09-25 DOI: 10.1109/CIMSIM.2012.70
M. Ghazanfar, S. Latif, B. S. Chowdhry, A. Siddiqui, G. A. Mallah
{"title":"DAPDNA-2 Performance Enhancement Using ALU Partitioning and Saturation Arithmetic for Digital Image/Signal Processing Applications","authors":"M. Ghazanfar, S. Latif, B. S. Chowdhry, A. Siddiqui, G. A. Mallah","doi":"10.1109/CIMSIM.2012.70","DOIUrl":"https://doi.org/10.1109/CIMSIM.2012.70","url":null,"abstract":"A reconfigurable processor is a microprocessor with erasable hardware that can rewire itself dynamically. This allows the chip to adapt effectively to the programming tasks demanded by the particular software they are interfacing with at any given time. To modify the ALU architecture of DAPDNA-2 reconfigurable processor in order to enhance its computational capabilities for Digital Image/Signal Processing applications, we have proposed to reduce the size of ALU from 32-bit (existing) to 8, 16 or 32-bit by employing the technique of ALU Partitioning as typical DIP/DSP applications generally consist of 8 or 16-bit data types. Also, employing Saturation can help us prevent overflows as any further increment in the register values from the maximum, is supposed to be discarded for graphics applications e.g. EA2Ch + D12Ah = FFFFh.","PeriodicalId":435030,"journal":{"name":"2012 Fourth International Conference on Computational Intelligence, Modelling and Simulation","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-09-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122232189","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
PerfExt: Performance Extrapolation Tool 性能外推工具
2012 Fourth International Conference on Computational Intelligence, Modelling and Simulation Pub Date : 2012-09-25 DOI: 10.1109/CIMSIM.2012.71
S. Duttagupta, R. Virk
{"title":"PerfExt: Performance Extrapolation Tool","authors":"S. Duttagupta, R. Virk","doi":"10.1109/CIMSIM.2012.71","DOIUrl":"https://doi.org/10.1109/CIMSIM.2012.71","url":null,"abstract":"Load testing of IT applications is fraught with the challenges of time to market, quality of results, high cost of commercial tools, and accurately representing production like scenarios. It would help IT projects to be able to test with a small number of users and extrapolate to scenarios with much larger number of users. This in turn will cut down cycle times and costs and allow for a variety of extrapolations closer to production. We present Perf Ext, a performance extrapolation tool that uses a statistical empirical modeling technique to extrapolate application performance for a large number of users. The tool provides more than 90% accuracy for a range of applications running across a number of hardware servers. The tool allows performance extrapolation of applications with multiple transactions and its performance is compared with that of MVA.","PeriodicalId":435030,"journal":{"name":"2012 Fourth International Conference on Computational Intelligence, Modelling and Simulation","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-09-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129127914","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
Road Lane Detection Using H-Maxima and Improved Hough Transform 基于H-Maxima和改进Hough变换的道路车道检测
2012 Fourth International Conference on Computational Intelligence, Modelling and Simulation Pub Date : 2012-09-25 DOI: 10.1109/CIMSIM.2012.31
K. Ghazali, Rui Xiao, Jie Ma
{"title":"Road Lane Detection Using H-Maxima and Improved Hough Transform","authors":"K. Ghazali, Rui Xiao, Jie Ma","doi":"10.1109/CIMSIM.2012.31","DOIUrl":"https://doi.org/10.1109/CIMSIM.2012.31","url":null,"abstract":"A fast and improved algorithm with the ability to detect unexpected lane changes is aimed in this paper. A short segment of a long curve has relative low curvature which is approximated as a straight line. Based on the characteristics of physical road lane, this paper presents a lane detection technique based on H-MAXIMA transformation and improved Hough Transform algorithm which first defines the region of interest from input image for reducing searching space, divided the image into near field of view and far field of view. In near field of view, Hough transform has been applied to detect lane markers after image noise filtering. The proposed method has been developed using image processing programming language platform and was tested on collected video data. Promising result was obtained with high efficiency of detection.","PeriodicalId":435030,"journal":{"name":"2012 Fourth International Conference on Computational Intelligence, Modelling and Simulation","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-09-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127862309","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: 52
Potential Fishing Zone Estimation by Rough Cluster Predictions 基于粗聚类预测的潜在捕捞区估计
2012 Fourth International Conference on Computational Intelligence, Modelling and Simulation Pub Date : 2012-09-25 DOI: 10.1109/CIMSIM.2012.34
S. Jagannathan, A. Samraj, M. Rajavel
{"title":"Potential Fishing Zone Estimation by Rough Cluster Predictions","authors":"S. Jagannathan, A. Samraj, M. Rajavel","doi":"10.1109/CIMSIM.2012.34","DOIUrl":"https://doi.org/10.1109/CIMSIM.2012.34","url":null,"abstract":"The potential fishing zone advisories plays a vital role in forecasting the spots for fishing. The PFZ advisories received from INCOIS of Colachel was analyzed to understand the landing spots for fishing. The data had split into three significant categories of distance. This study reveals that the depth and the distance of PFZ are directly proportional until a specific distance. It has an inference in the maximum distance, the depth is low for pelagic fishes indicating the life adaption in planktons. Ocean floor classification with respect to depth has noted that pelagic fishes live at a certain depth and this correlates to the data analyzed. The study is used for the benefit of fisherman to deduce automatically the spot in accordance to the seasons and also the depth. PFZ advisories help the fisherman in the significant reduction of search time and fuel cost, yields the better catch on a day.","PeriodicalId":435030,"journal":{"name":"2012 Fourth International Conference on Computational Intelligence, Modelling and Simulation","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-09-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127038459","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
Vowel Classification of Children's Speech Using Fundamental and Formant Frequencies 用基本频率和共振频率对儿童语音进行元音分类
2012 Fourth International Conference on Computational Intelligence, Modelling and Simulation Pub Date : 2012-09-25 DOI: 10.1109/CIMSIM.2012.95
A. Zourmand, T. Nong
{"title":"Vowel Classification of Children's Speech Using Fundamental and Formant Frequencies","authors":"A. Zourmand, T. Nong","doi":"10.1109/CIMSIM.2012.95","DOIUrl":"https://doi.org/10.1109/CIMSIM.2012.95","url":null,"abstract":"Automatic speech recognition is one of the most revolutionary innovations in telecommunication and speech therapy systems. Vowel classification, especially of children's speech, is a relatively unexplored and challenging dimension of speech recognition and analysis research. In this study, vowel classification of children was investigated for sustained Malay vowels which were produced by Malay children between 7 to 12 years of age, all of whom were categorized into 12 different age and gender groups. Each of the subjects was asked to pronounce all 6 sustained Malay vowels. After a thorough discrimination test, fundamental and formant frequencies (F0- F3) were extracted. Different combinations of fundamental and formant frequencies were examined to find the best combination by applying the Euclidean minimum distance formula on normalized and non-normalized data. Our results showed around 17% improvement when using normalized data. Moreover, different combinations of fundamental and formant frequencies were examined on vowel classification by applying MLP. Based on the results, the best rate of correct classification was 87.50% when using the Euclidean method and 85.79% when using the MLP (Multi-layer Perceptron) method with combinations of fundamental and first three formants frequencies (F0, F1, F2 & F3) in both methods. An additional observation made was the improvement in the trend of accuracy with the increase in the age of the children.","PeriodicalId":435030,"journal":{"name":"2012 Fourth International Conference on Computational Intelligence, Modelling and Simulation","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-09-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114906402","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
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