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2012 | Buch

Advances in Automation and Robotics, Vol.1

Selected Papers from the 2011 International Conference on Automation and Robotics (ICAR 2011), Dubai, December 1–2, 2011

herausgegeben von: Gary Lee

Verlag: Springer Berlin Heidelberg

Buchreihe : Lecture Notes in Electrical Engineering

insite
SUCHEN

Über dieses Buch

The international conference on Automation and Robotics-ICAR2011 is held during December 12-13, 2011 in Dubai, UAE. The proceedings of ICAR2011 have been published by Springer Lecture Notes in Electrical Engineering, which include 163 excellent papers selected from more than 400 submitted papers.

The conference is intended to bring together the researchers and engineers/technologists working in different aspects of intelligent control systems and optimization, robotics and automation, signal processing, sensors, systems modeling and control, industrial engineering, production and management.

This part of proceedings includes 81 papers contributed by many researchers in relevant topic areas covered at ICAR2011 from various countries such as France, Japan, USA, Korea and China etc.

Many papers introduced their advanced research work recently; some of them gave a new solution to problems in the field, with powerful evidence and detail demonstration. Others stated the application of their designed and realized systems. The session topic of this proceeding is intelligent control and robotics and automation, which includes papers about Distributed Control Systems, Intelligent Fault Detection and Identification, Machine Learning in Control, Neural Networks based Control Systems, Fuzzy Control, Genetic Algorithms, Robot Design, Human-robots Interfaces, Network Robotics, and Autonomous Systems, Industrial Networks and Automation, Modeling, Simulation and Architectures, Vision, Recognition and Reconstruction, Virtual Reality, Image Processing, and so on.

All of papers here involved the authors’ numerous time and energy, will be proved valuable in their research field. Sincere thanks to the committee and all the authors, moreover anonymous reviewers from many fields and organizations. That is a power for all of us to go on research work for the world.

Inhaltsverzeichnis

Frontmatter

Intelligent Control and Robotics and Automation

Formal Description of 3D Semi-tunnel Component

Formal description is an abstract mathematical description based on the mathematical model, and it is a theory foundation of three-dimensional (3D) modeling and system development. The semi-tunnel is component which constructs 3D tunnel model as research object, using Object-oriented approach and the collection operation for specific ways, by analyzing the construction elements of semi-tunnel, all modeling elements of semi-tunnel are strictly defined and made formal description by utilizing the theory of topology. Then, based on the formal description of modeling elements, the formal description of semi-tunnel is expressed, it is easier to design and program the semi-tunnel. According to the formal description of semi-tunnel, it also simplifies the construction of 3D tunnel network model, and facilitates the spatial analysis and query.

Enke Hou, Zhihua Zhang, Xiaoxia Luo
Application of Neural Networks to the Correction of a Stiffness Matrix in a Finite Element Model

It is important how to find the sources of error in a finite element model and how to correct them because the model established by analysis could not correspond to the real structure completely. One practical method is to correct the stiffness matrix by a static test first, then correct other matrixes according to the corrected stiffness matrix. The problem with this method is that the result is often highly sensitive to differences in relative errors in static displacements. The neural networks were applied in this study and preliminary results were obtained. The new approach is able to get rid of the high sensitivity and can modify stiffness matrix well.

Zhong Yang, Haifei Si
Passive Ranging Based on Single-Band IR Sensor without Extinction Coefficient

We proposed a single-band infrared sensor based passive ranging method without using extinction coefficient, in which radiation intensity ratio between adjacent sampling instances is used to eliminate the effects of the atmospheric extinction coefficient. An equation of using the ratio of radiation intensity between two adjacent sampling instances to estimate the distance ratio between them is developed, in which the irrational assumption of constant target radiation intensity over an extended period is removed. Additionally the proposed method is verified by simulation which demonstrates satisfactory distance estimation.

Xiao-ning Fu, Di Wang
A New Variable Step Size NLMS Algorithm Based on Decorrelation for Second-Order Volterra Filter

When the input signals are strongly correlated, the adaptive algorithm performance of Volterra filter deteriorates. Meanwhile, the correlativity of linear input signals of Volterra filter is different from that of nonlinear input signals of Volterra filter. So, a new variable step size NLMS algorithm based on decorrelation for second-order Volterra filter is proposed. In the new algorithm, the decorrelation is used in linear and nonlinear input signals of Volterra filter, respectively, and the different variable step factors are adopted. Simulation results of noise cancellation show that the correlativity of input noises has no fundamental impact on the proposed algorithm, whether it is strong or weak. And when the input noises are strongly correlated, the new algorithm still has a better noise cancellation performance.

Zhijin Zhao, Pingping Yan, Lei Shen
Research and Design of the Integrated Administration Management System for Enterprises

Administration management is an important part of enterprise management. Based on the China’s mainland small and medium private enterprises and combined with their management model and mode, the design problems of the integrated administration management software system for enterprises are described. The design model of the object-oriented integrated administration management system for enterprises is established, and an overall design of software system is proposed, which laid the method basis for the research and development work of the integrated administration management system for enterprises. It also has a great guiding role in the subsequent software development and a certain referential meaning for the integrated management system in other fields.

Junhong Zheng
An Improved Iterated Local Search Algorithm for the Permutation Flowshop Problem with Total Flowtime

Iterated local search (ILS) algorithm is a powerful metaheuristic for the permutation flowshop problem with total flowtime objective. ILS is based on a local search procedure and the procedure needs to be restarted from another solution when the procedure is trapped into a local optima. In the literature, the solution is often generated by slightly perturbing the best solution found so far. By doing so, the search space is relatively narrow and it is easy to lead the search stagnant. In order to improve this situation, a strategy is proposed in this paper to allow the restart solution be generated from a group of solutions, which are drawn from the local optima solutions found in the search process. An ILS algorithm named MRSILS is proposed. Its performance is evaluated on a set of benchmarks. Comparisons show that the MRSILS is significantly better than or comparable to several state-of-the-art metaheuristics.

Xingye Dong, Ping Chen, Houkuan Huang
A Framework on Halal Product Recognition System through Smartphone Authentication

Muslim consumer faces a problem in identifying the halal products in the market especially in Malaysia. A fake halal logo and unknown detail ingredients is the major problem for Muslim consumer. This framework study will be presented and with the implemented proposed system would help consumer to verify through Smartphone barcode capture straightaway on time with the applied halal product alert database system. All the information regarding halal logo, company, product name, barcode number, ingredients, license number and expiry date will be found in the database. This study focuses on 1-D European Article Numbering (EAN)-13 barcode since it is used internationally for tagging retail goods. However other types of 1-D and 2-D barcodes can still be readable and application will be developed on Android 2.1 (Eclair_MR1) Operating System. Android 2.1 is chosen since most of Android Smartphone is operating at minimum on Android 2.1.

Cik Ku Haroswati Che Ku Yahaya, Murizah Kassim, Muhammad Hafiz bin Mazlan, Zamri Abu Bakar
Decision Support System for Workload of Design and Research Institutes

Design is a complicated labor-intensive process, not only does it involve mental work, but also manual labor. To a design and research institute, it is a complex issue to properly evaluate the heterogeneous workload for a deign-related job. Therefore, it is crucial to precisely calculate cross-enterprise, heterogeneous workloads to support business goals and service levels. This thesis focuses on the discussion of the relevant calculation methods as well as the decision support system for workload under a cooperative work platform.

Zhizhen Dong, Min Hu
Research and Development of a Ping-Pong Robot Arm

In order to design a ping-pong robot arm system of low cost and high performance, this paper firstly designed the arm’s mechanical structure according to the requirement of the robot arm, and then analysised the kinamatics and dynamatics of the system. In addition, dynamic simulation as well as control scheme are described in detail. Results of analysis and experiment illustrate that the design can meet the functional requirement. The ping-pong robot arm can realize high-speed ball hitting, ball balancing techniques at a very low cost.

Xiaowen Yu, Yu Zhao, Chenglong Fu, Ken Chen
A New Programming Language for PLC Using Bond Graph

In this paper a new programming language for PLC with using of bond graph is introduced. Bond graph is a system for modeling in Mechatronics systems. The advantage of using bond graph for PLC programming, Is the use of a common language for hybrid mechanical, electrical systems. For a better understanding we use Ladder which is a Circuit definition language. First we’ve used the bond graph symbols in the Ladder program. Ladder program has been implemented in MATLAB Simulink software as an application program.

Ahmad Naebi, Masoud Hassanpour Aghdam, Ali Ghalehban Zanjanab, Esmaeil Nourani, Saeed Hassanpour Aghdam
Physical and Computer Base Human Brain Simulations

Objective

The simulated CSF and brain were set up. The aim of this project is to use them to study characteristic of real human brain in laboratory condition.

Method

Edible gelatine was used to simulate the brain. A concentration of 6g/100ml gelatine had physical characteristics similar to real brain. A series of different salt jelly concentrations were tested.

Results

The frequency and temperature characteristic of simulated CSF conductivity were measured at room temperature, body temperature and above the body temperature.

Conclusion

Kinds of direct comparisons of the results of mathematical calculations with experimental results is done using tangential and radial dipoles insert into the simulated SCF and simulated brain, to check on the validity of the parameters of simulated brain.

Zhi Zun Zhou, Jing Ding, Yan Fan Yang, Bao Cui
Fault Diagnosis of Excavator Hydraulic System Based on Expert System

For complex electromechanical and hydraulic configuration, there are more and more types and forms of faults in Hydraulic Excavator. It is difficulty to exact diagnosis various faults using a single discrimination method, because its mechanical, electrical, hydraulic and control subsystems have strong interact and coupling. The thesis studied the fault diagnosis system based on expert system through engineer practicing. A fault diagnosis research framework is proposed and the whole system scheme is designed.

Jian Yin, Liting Mei
Geometric Errors Measurement of a Large Scale Five-Axis Gantry Type High Speed Machine Tool

With the requirement of higher productivity and increased automation, precision five-axis machine tools are essential element of an industrial society. So enhancing the accuracy is become increasingly important on five-axis machine tool. The position dependent systematic geometric errors are 30 and the position independent systematic errors are 9 in a five-axis machine tool. It is necessary to measure all these errors components precisely in order to utilize software error compensation for accuracy improvement. A laser interferometer system and DBB test system have been built for a five-axis machine tool geometrical error measurement in this paper.

Jian Yin, Ming Li, Changkai Xu
Identical Predictions for Different Singular Mixed Models

In linear mixed models theory one is assumed to know the structure of random effects covariance matrix. The suggestions are sometimes contradictious, especially if the model includes interactions between fixed effects and random effects. Mols [3] presented conditions under which two different random effects’ variance matrices will yield equal estimation and prediction results during the paper it is assumed that X is of full column rank. Wang [11] weakened the conditions of his theorem, and obtained the same results as his. Wang [12] extended Mols’s [3] results to situation that X is deficient in rank. Wang [13] gave a series of results it is assumed that X is possibly deficient in rank. They contain some necessary and sufficient theorems. We extend Wang’s [11-13] results to singular linear mixed models in this paper.

Shiqing Wang
Probing Concepts of Sustainable Package Design

Taking ideas of sustainable development as starting point, and based on the analysis of cutting-edge concepts related to sustainable design, this paper discusses the principles in sustainable package design and predicts the future trend of as well.

Min Jie
Variable Sparse Multiple Kernels Learning for Novelty Detection

Novelty detection from multiple information sources is an important problem and selecting appropriate features is a crucial step for solving this problem. In this paper, we propose a novel data domain description algorithm which is inspired by multiple kernel learning and elastic-net-type constrain on the kernel weight. Most Multiple kernel learning algorithms employ the 1-norm constraints on the kernel combination weights, which enforce a sparsity solution but maybe lose useful information. In contrast, imposing the p-norm(p>1) constraint on the kernel weights will keep all the information in the base kernels, which lead to non-sparse solutions and brings the risk of being sensitive to noise and incorporating redundant information. To address this problem, we introduce an elastic-net-type constrain on the kernel weights. It finds the best trade-off between sparsity and accuracy. Furthermore, our algorithm facilitates the grouping effect. The proposed algorithm can be equivalently formalized as a convex-concave problem that can be effectively resolved with level method. Experimental results show that the proposed algorithm converges rapidly and demonstrate its efficiency comparing to other data description algorithms.

Xiankai Chen, YingDong Ma, Liu Chang, George Chen
An Approach for Determining the Next Best View Based on Voxel Map and Simplex Method

Aiming at the problem of the next best view, an approach for determining the next best view is proposed by using voxel map and simplex method. Firstly, a range image of the scene is obtained, then a voxel map is created according to the range data and related voxel information is obtained. Secondly, an objective function which considers area, quality, overlap, occlusion, navigation and other factors is defined, and the problem of the next best view is abstracted to the optimization solving problem of objective function. Finally, the simplex method is applied to optimize the objective function. The direction and position corresponding to the optimal solution of the objective function is the next best view. Experimental results show that the proposed approach is feasible and effective.

Shihui Zhang, Xiaowei Qu
Research of Self-organization Wireless Sensor Network

To solve the problem of the limitation of computing, power consumption and network resources that faced by self-organization wireless sensor network, this paper forwards a method of dynamic adjustment of nodes to reach a flexible transformation of the router and endpoint nodes. This algorithm bases on a set of system platform that combined of hardware and software and takes the advantages of self-organization network itself. Experimental results show that the algorithm reduces network node redundancy and node isolation, which reduce the energy loss of network.

Yulan He, Jie Yuan
The Design of the Composite Wheeled Mining Robots

In allusion to complex and changing sediment environmental characteristics of cobalt-rich crusts and hydrothermal sulfide survey area in deep sea, designed a new high over-obstacle Composite wheel mining robots. It is made by 4-composite wheel set connected with an articulated frame. The design of composite wheel set makes the mining robots have both active and passive obstacle model under the auxiliary fuel tank. Through analyzing, the results showed that the Composite wheeled mining robots has a strong terrain self-adaption and over-obstacle capacity in the complex and changing deep sea environment.

Liu Yun
Hall Systems Based on Vehicle Integrated Life-Cycle Project Management Model

With the progress of vehicle projects, project objectives, planning, control and management of the main targets have also changed, such as information exchange projects in the participating units close enough to some extent, project management is characterized by a certain degree of continuity and mutual independence of the Non-continuous. In order to maximize project management efficiency, to build a vehicle project on the Hall project life-cycle concept of integrated management model for the formation of a vehicle project integration management structure, the completion of the project process analysis. Hall systems based on the use of vehicle of project life-cycle concept model to achieve integrated management of complex multi-attribute and the role of dynamic vehicle project and effective management of the participating units, thus solving a class of high-investment, high-interest, long-period large-scale project management issues.

Yongtao Yu, Ying Ding
An Intelligent Fault Diagnosis Method for Oil-Immersed Power Transformer Based on Adaptive Genetic Algorithm

For the information and knowledge in oil-immersed power transformer fault diagnosis is randomness and uncertainty, this paper firstly analyzed the relationship between DGA and the fault categories; and then combined it with adaptive genetic algorithm, and proposed a adaptive genetic algorithm based fault rules intelligent learning model, so the model was used for oil-immersed transformer fault diagnosis. It combined adaptive genetic algorithm, credit evaluation system and experts’ guidance, because of the global search properties of genetic algorithm and the artificial expert prior knowledge, the system will search out the optimality fault rules finally. At last, the experiments also proved that the proposed fault rules intelligent learning mode used in oil-immersed power transformer diagnosis has a high rate of identification for faults.

Youwen Li, Demei Bao, Cun Luo, Lijun Huang, Liming Cao
A Novel Approach to Edge Detection of Color Image Based on Quaternion Fractional Directional Differentiation

In this paper, we denote a color image by a quaternion function, then find edge points by solving the maximum of quaternion fractional directional differentiation(QFDD)’s norm. This method is called edge detection based on QFDD. Experiments indicate that the method has special advantages. Comparing with Canny, LOG, Sobel, and general fractional differentiation, we discover that QFDD has fewer false negatives in the textured regions and is also better at detecting edges which are partially defined by texture, which means we will obtain better results in the interesting regions by QFDD and these results are more consistent with the characteristics of human visual system.

Chaobang Gao, Jiliu Zhou, Fangnian Lang, Qiang Pu, Chang Liu
Cost Distribution of Multi-path Based on Vehicle Speed on Cross-Section

In order to solve the toll distribution problem of highway, a multi-path cost partition method for the highway is proposed. The probability distribution of the time is analyzed by velocity distribution of the vehicle on the path of each section and the length of each section. By means of mixed probability model, the probability distribution of travel time from the entrance to the exit is decomposed into the linear combination of the probability distribution for travel time of each path, where the combination coefficient is partition one. Finally, the simulation results show that the partition coefficient is consistent with the vehicle segregation coefficient.

Wei Cai, Anguo Dong, Hongzhi Xue, Xueli Song, Bo Chen
The Study of Applying the Fuzzy Overall Evaluation Method to Solve the Satisfaction of the Objective in the Separating-Planting Mechanism

In this paper, according to the points in ambiguity, nonlinear, multi-objective and the other characteristics of the separating-planting mechanism, it combines fuzzy multi-objective optimization algorithm, applies the fuzzy overall evaluation method of the fuzzy mathematics theory to solve the objective satisfaction of the separating-planting mechanism of the rice transplanter, and accordingly obtains the better objective value and more feasible solution. On the platform of the “Star Judging Method” of the separating-planting mechanism aided analysis software, through the parameters optimization to establish the objective initial judgment matrix, through the expert knowledge to establish evaluation set, through the digital design to establish judgment set, and then evaluate a better feasible solution among all of the solutions. This method provides a new evaluation method for further optimization of the separating-planting mechanism.

Li Dai, QunWei Hu, Xiong Zhao, Yun Zhao
The Learning of Morphological Principles: A Statistical Learning Study on a System of Artificial Scripts

By using a familiarization-preference procedure, the current study investigated the statistical learning of two morphological principles without providing any phonological cues. A series of experiments was conducted by varying learning duration. After a relatively short period of exposure to the learning stimuli, participants firstly learned the co-occurrence regularity; in comparison, the learning of graphic position required more exposure to the learning stimuli. These findings suggest that these two morphological principles could be acquired without phonological cues, but they were not equally easy to learn.

Qiuyan Wu, Xiaoping Fang, Quanjing Chen, Yaoran Li, Yuan Deng
Research on Multi-Agent Intelligent Decision Support System Based on Blackboard

Multi-Agent Intelligent Decision Support System based on blackboard is designed that uses of blackboard system and Agent, it describes the framework and gives the detail about the each Agent, at the same time, the function of various base in resources layer is suggested in the system, and the structure of database is provided. In addition to, the action about Agent is described. The system can help to cooperate in Multi-Agent about complicated works.

Yongyong Sun
Consensus Control for a Class of High Order System via Sliding Mode Control

In this paper, consensus problem for a class of high order multi-agent systems is studied by using the so called sliding mode control technique. For directed connected multi-agent systems, both the fixed topologies and switching topologies are considered in this paper. By using the sliding mode control technique, a sliding mode surface is designed, each agent are coupled according to the prescribed sliding surface so that they can reach the same sliding surface in finite time and therefore converge to their consensus value. This consensus control technique can be very easily used in the consensus protocol design.

Changbin Li, Yi He, Aiguo Wu
Design and the Position Analysis of a Novel Translational Orthogonal Parallel Micromanipulator

A novel translational orthogonal parallel micromanipulator of unique design is proposed, it is the variation of DELTA robot. The structure and layout features of the parallel micromanipulator are described. Based on its architecture feature, direct and inverse kinematics equations are developed. The micro-displacement of moving platform is simulated by loading the displacement of a one-way branch, after establishing the finite element analysis model of the micromanipulator. Comparing the simulation result with the theoretical value, the results show that it has many advantages such as better isotropic properties, perfect movement decoupling and high precision. Therefore, the micromanipulator can be widely applied to the fields of precision machinery, genetic engineering and microelectronic packaging, etc.

Yuzhu Wang, Zhenlin Jin
Conformal Minimal Convex Analysis of Geodesic Active Contours

Geodesic Active Contour Model (GACM) is a great improvement of the traditional Snake Model. It had converted the problem of finding extremity of an energy functional to the problem of finding a geodesic curve in an appropriate Riemannian space. But (geodesic) active contour models are nonconvex in general, so the solutions of the Euler-Lagrange equation of its energy functional are only critical points, but were often taken as minima of the energy functional as granted. This paper focused on the convex analysis of Geodesic Active Contour Models and had proposed a condition to ensure the convexity of the energy functional of GACM. We proved that if the Gaussian curvature K of the image surface I is less than 0 everywhere along a normal geodesic curve

C

(

t

), then its energy functional

E

(

C

) will be convex near C. Further more, it can be induced from our theorem that if ∆ln

h

 > 0 along

C

(

t

), then the energy functional

E

(

C

) will also be convex near C if the image space has its metric tensor taking the form

g

ij

=

h

(|∇

I

(

x

)|)

2

δ

ij

.

Guohua Chen
Medical Image Denoising Based on Improved Anisotropic Diffusion

This thesis is directed to the most valuable work is the improved algorithms about classical Perona filter, which preserve the image edges more effectively. It is also used to AOS(addictive operator splitting) scheme in anisotropic diffusion equation to improve the competence of edges preservation and achieve region smooth effect. The results of experiments show all improved algorithms have more better performance than unimproved and they fit the needs of medical image denoising. In total, anisotropic diffusion filtering have the best performance. All the methods related in this paper enhance application of digital filter technology and have theoretic and practical meaning.

Ying Meng
Attitude Measurement of Dynamic Object by Laser Tracking System and Optoelectronic Methodology

This paper presents a low-cost laser tracking system to measure attitudes of dynamic object and position of the moving target which only need one feature point fixed on it. An attitude measurement modeling is built up to show the coupling of the three attitudes named yaw, pitch and roll. Installation error and lens distortion error are referred to improve the precision of this system. The improvement of the measurement modeling is transferred to be a nonlinear least-squares problem. A Gauss-Newton iterative method is proposed to solve the nonlinear modeling and optimize error parameters. The experiments successfully examined the effectiveness of the proposed modeling and algorithm in terms of: (1) The attitude measurement modeling perfectly describes the relationship of attitudes and measured parameters by system. (2) The corrected modeling takes installation error and lens distortion error into consideration.(3)The error modeling using G-N iteration optimizes error parameters and availably reduces the error of the system.

Minghua Pan, Chuncao Zhang, Guoli Zhu
Research on Pyrolysis Behavior of Coal Tar Using TG-MS

Simultaneous thermogravimetry-mass spectrometry (TG-MS) was used to investigate the pyrolysis behaviour of coal tar and the instantaneous evolution characteristic of the gaseous products. The result shows that the gaseous releasing product is mostly H

2

O besides a small quantity of C

2

H

4

under 400°C. It is mostly CH

4

and C

2

H

4

in addition to a small quantity of C

2

H

2

between 400-600°C. It is mostly H

2

, CO, CO

2

and a small quantity of C between 600-1000°C. It is in evidence that C3, CO, CO2 release between 1000-1300°C.

Lian-yong Wang, Lei Dai, Jiu-ju Cai
Dynamic Image Segmentation Using Incremental Nyström Method

Eigen-decomposition plays a critical role in spectral segmentation. However it is often of low efficiency due to the bottleneck of computation. To solve such bottleneck problem, this paper proposes a dynamic image segmentation method with the incremental Nyström approximation. This method consists of two steps: firstly, we segment the low-resolution images with the original Nyström method; secondly, the high-resolution image newly arriving is dynamically dealt with on the basis of the low-resolution segmentation result. In the second step, an incremental Nyström method is designed to efficiently approximate the eigenvectors of spectral kernel matrices. Experimental results have shown that the proposed method can perform well in image segmentation.

Hongyu Li, Shicheng Wen
Research of the Spatial Position and Attitude Detection Technology about New Deep Hole Measurement Device

The paper regarded deep hole with groove —rifled gun as example, in connection with the characteristics of movement theory and deep hole detection, introduced a new measurement system of deep hole, including elements of measurement system and driving form of analogous planetary gear, and, carrying out kinematics analysis. The system is accurate, reliable and steady, which is useful for deep hole detection and very important practical value, according to validating with lots of experiments.

Bao Jiandong, Wang Changming
Data Collection and Transmission System with a Vibrating Stress Meter Based on GPRS

Based on the rapid development of The Modern Mobile Network and full Coverage, This paper designs a Data collection and transmission system with a stress meter based on GPRS. Use the Internet access capabilities of GPRS, it can collect and transmit data real-timely at anywhere. This paper describes the structure of the system and working principle in detail. The system has more advantages, such as real-time communication, reliability and low cost.

Xin He, Kun Liu
High-Precision Measurement Method of Time-Interval Based on Pseudo-Random Sampling

Based on pseudo-random sampling a high-precision measurement method of time-interval for pulsed laser ranging is presented for the first time. In the method, time-intervals of laser pulses are controlled by a chirp signal generated using a Voltage-Controlled Crystal Oscillator. The time-intervals are unequal pseudo-random sequences. Pulse laser signals reflected from the object become sampling signals after they pass through a time discriminating circuit. Characteristics of measured signals are represented by the mapping of sampling time points on a referenced sinusoid signal. Then high-precision measurement of time-intervals can be implemented using a phase estimation algorithm. This method is simple in theory and easy to realize. In experiments using 15MHz reference clock, it is achieved that the measurement precision of time is 16ps.

Minshuang Huang, Junfen Huang, Yinqi Feng
Simulation of Logistics System with Aspect of Pallet Requirements Optimization Based on Digital Factory

Digital Factory Technology helps not only to reduce the uncertainty from the planning to workshop execution, but also to increase reliability and capability of the facilities to be installed or re-built. Moreover, it keeps the production facility investment and logistics costs under control. This thesis first gives a process-analysis based assessment of the dynamic demands of pallets for component dispatching to an assembly line. Then, by using simulation with Delmia/Quest for Digital Factory, the demand forecast of pallets turns to be much more accurate. As a result, the total investment on the dispatching pallets in the new facility to be installed effectively goes down.

Zailin Guan, Luguang Cao, ChuangJian Wang, Yanyan Cui, Xinyu Shao
On the Convergence of Iterative Identification of Hammerstein Systems

An iterative identification algorithm of Hammerstein systems needs a proper initial condition to guarantee its convergence. In this paper, we propose a new algorithm by fixing the norm of the parameter estimates. The normalized algorithm ensures the convergence property under arbitrary nonzero initial conditions. The proofs of the property give a geometrical explanation on why the normalization guarantees the convergence. An additional contribution is that the static function in the Hammerstein system is extended to non-odd functions.

Guangshe Zhao, Guoqi Li, Changyun Wen, Feng Yang
Learning Biped Locomotion Based on Q-Learning and Neural Networks

Robot postures are transformed continuously until an impact occurs. In order to solve the continuous state problem, a Q-Learning controller based on Back-Propagation (BP) Neural Networks is designed. Instead of Q table, a Multi-input Multi-output BP Neural Network is employed to compute Q value for continuous state. Eligibility trace is used to solve time reliability problem in Q-Learning, and we integrate the eligibility trace algorithm to the gradient descent method for continuous state. To avoid dimension explosion, an inverted pendulum pose-energy model is built to reduce the dimension of the input state space. For the sake of balance between “explore” and “exploit” of Q-Learning, we use a new

ε

-greedy method with a variable stochastic probability, which decreases with the increasing of the step number. Simulation results indicate that the proposed method is effective.

Peng Ziqiang, Pan Gang, Yu Ling
Using GA and Computation Parallelism for the Optimal Pilot Bus Selection

The power system is generally characterized in particular by its size, complexity and time varying, beforehand unknown electrical load. Because large electric power is transferred, even slight changes in the settings can produce significant economic savings. Based on the characteristics of the power system and the nature of the secondary voltage control, it is clear that the optimal pilot bus selection plays a key role in the quality of control and related economic impacts. This paper deals with the system for optimal pilot bus selection of supervisory node voltage control in a large – scale power system, so that the key problem could be solved using the principle of parallelism and grid computing structure to make the computer time consumption as low as possible.

Michal Kopček, Dušan Mudrončík
Research on Ontology-Based Relational Data Integration

To integrate relational data semantically, schema description and query accessing issues are discussed. Ontology is chosen as the global schema to describing semantics. To building domain ontology rapidly, an approach based on subgraph extraction is presented. Then the semantics of SAPRQL queries is defined and algorithm for query rewriting is put forward. Minimal connectable unit is defined to represent a fragment of semantic mapping from the query to the rewriting. Finding and joining minimal connectable units produce semantically correct query plans. Soundness and completeness of query rewriting algorithm is proved. Computational complexity of the algorithm is discussed. Under the worst case, the query rewriting algorithm requires

O

(

n

m

) time. Experiment results show that the query processing algorithm can provide nice performance.

Zhuang Miao, Jingwu Wang, Jinpeng Wang, Yang Li, Weiguang Xu
Research of Neural Network PID Control of Aero-engine

In order to complete the full flight envelope control of aeroengine, neural network PID control method with excellent self-learning and adaptive capability is introduced in this paper. Through the online learning algorithm with the principle of gradient descent method, the PID controller parameters, as the outputs of neural network, can be adjusted to overcome the influence of engine condition changing. The simulation results show the well tracking performance and robust performance of the designed control system, it is suitable for aero-engine control.

Haiquan Wang, Dongyun Wang, Guotao Zhang
The Design and Implementation of Soccer Robot for RoboCup Middle Sized League

This paper mainly illustrates the background and development of soccer robot for RoboCup Middle Sized League, and puts more emphasis on both hardware and software design for the soccer robot based on the microcontroller AT90CAN128. In the hardware design, the sensor module is implemented by high precision laser range finder and electric compass for robot self-localization; USB-CAN converter are designed in the communication module; based on the introduction of main chips in use and workflow of the system, the two most important actuator in the soccer robot are designed separately, including motor module and kicking module. According to the hardware above, the software design shows the working flow of each module, including the laser ranger finder and electric compass in the sensor module, the transition mechanism between USB protocol and CAN protocol and easy-to-use bootloader for AT90CAN128 debugging online. The test shows both hardware and software designs for the soccer robot work well.

Wei Li, Huifeng Wang, Lars Asplund
Study of Cloud-Type Recognition Based on Multi-class Features

According to changeability of cloud, cloud-type recognition was primarily based on single-class feature in previous papers which was restricted to a certain degree. A set of features describing the color, texture as well as the shape features were extracted, then the shape and texture features combination methods were discussed. Here Gray-level co-occurrence matrix(

GLCM

) and Gabor wavelet transform based texture features and Zernike moment based shape features were combined, then support vector machine (

SVM

) was employed to recognize cloud-type. Experimental results showed that the correct recognition rates of altocumulus, cirrus, clear, cumulus and stratus were improved significantly, with the average recognition rate of 88.6%, and clear sky and stratus’s recognition rate of 100%.

Ling Yang, Zhong-ke Wang, Jun Wang, Wen-ting Cui
A Fast Sparsity Adaptive Matching Pursuit Algorithm for Compressed Sensing

Sparsity adaptive matching pursuit algorithm (SAMP) is a compressed sensing signal reconstruction algorithm with good performance. However, as the support set expands one time, the backward pursuit should be processed for many times, in which redundant update calculations are included. To solve the problem, this paper presents a fast sparsity adaptive matching pursuit algorithm (FSAMP). During the operation of the FSAMP, the backward pursuit is performed only once when the support set expands. After the support set is fixed, the backward pursuit shall be executed for multi times to guarantee the reconstruction precision. Simulation results for signal reconstruction show that the FSAMP has the slight higher reconstruction precision and the much faster reconstruction speed compared with the SAMP.

Chun-hui Ma, Chun-yun Xu, Lei Shen, Shi-lian Zheng
Modeling Research on Internal Manufacturing Supply Chain Based on SCOR Model

This paper introduces the supply chain management, comments the basic process and levels of supply chain operation reference model SCOR 10.0, and combining the characteristics of the internal manufacturing enterprises, this paper puts forward an internal manufacturing supply chain modeling method based on SCOR model, which can better give consideration to the performance of the whole supply chain and realize the enterprise process’s optimization.

Hailili Maimaiti, Zailin Guan, Baoxi Wang
A Non Real-Time Registration Algorithm for Multi-radar System

In order to improve the initiate fusion tracking performance of multi-radar system and keep the stability of fused tracks when the primary station is changed, a non real-time registration algorithm for multi-radar is presented in this paper. This algorithm use simplex method to obtain the best resolution, target function is the sum of the difference between the multiple radar measurements about the same target. Both measurement bias and location bias are considered simultaneously in this algorithm. To demonstrate its efficiency, the computer simulation results are presented.

Hongyan Li, Xinxi Feng, Zhaoying Wang, Tao Liu
An Efficient Video Panorama Constructing Algorithm Based on Color Invariant Features

Construct a panorama is an efficient way to handle the limitation of camera visual angle. The process of constructing a video panorama can be defined as image registration and fusion of video frames to a composite wide-view image. This paper proposes a video panorama constructing algorithm based on color invariant features. The panorama constructing process contains three steps. At the start, we build the camera motion model based on color invariant features in order to apply our algorithm in a scene where there are illumination, highlights and shadows. After that, for the purpose of reducing redundancy and accelerating speed, key frames are selected for the following image fusion process. At last, the input frames are transformed to a same coordinate to fuse a panorama. Experimental results show that the proposed algorithm is effective and accurate.

Ping Zhou, Xiling Luo
Approximate Output Regulation of Spherical Inverted Pendulum by Neural Network Control

Recently, the output regulation problem of the spherical inverted pendulum was studied in [8]. It is known that the solvability of the output regulation problem depends on the solvability of the regulator equations which are a set of nonlinear partial differential equations. Since the exact solution of the regulator equations associated with the spherical inverted pendulum is not available due to the complexity of the equations, the paper [8] tried a polynomial approximation of the regulator equations. In this paper, we first show that the regulator equations associated with the spherical inverted pendulum exist and then propose a neural network approach to obtain an approximate solution to the output regulation problem of the spherical inverted pendulum. We also make some comparison with the method in [8] and show that, the neural network controller leads to a much better tracking performance for larger exogenous signals.

Zhaowu Ping, Jie Huang
Discrete-Time Sliding-Mode Control of a Mobile Platform with Four Driving/Steering Wheels

In this paper the problem of trajectory tracking of the four-driving/steering wheels (4DW/SW) mobile platform SEEKUR, by means of a discrete-time sliding mode controller is presented. SEEKUR is a mobile platform which may be assimilated as an autonomous vehicle. Commercially available, both holonomic and nonholomic, all-weather, outdoor autonomous vehicle platform suitable for a wide range of security, military inspection and research applications. The discrete-time sliding-mode controller has been designed using a discrete time nonholonomic model of SEEKUR. Simulation and real-time results are presented in trajectory tracking control.

Adrian Filipescu, Viorel Minzu, Adriana Filipescu, Eugenia Minca
Tuning of Unscented Kalman Filter Based Biogeography-Based Optimization for UGVs Navigation

In the case of linear systems, corrupted by white Gaussian noise, the Kalman filter is proved to be an optimal filter in the mean least square sense. When the system model and measurements are non-linear, variation of Kalman filter like extended Kalman filter (EKF), Unscented Kalman filters (UKF) and Particle filter (PF) are used. However, the best performance of UKF is achieved when the random variables only are Gaussian, and affected seriously by the estimation precision of noise covariance. In this paper, we give a noise covariance estimation method based Biogeography-based Optimization (BBO). The experimental results obtained from real-world road tests validate the performance of our approach.

Kuifeng Su, Zhidong Deng, Zhen Huang
Robust Real-Time Lane Marking Detection for Intelligent Vehicles in Urban Environment

In this paper, we propose a framework of robust and real-time lane marking detection and tracking for the autonomous driving of intelligent vehicle under urban road environments. Our framework use hyperbola model as the lane marking model and several adaptive techniques to robustly extract lane marking pairs for the current lane. The framework provides a complete solution from environment perception of intelligent vehicle to vehicle control. The experimental results achieved on urban road scenarios show that our system performs well under various situation.

Wentao Yao, Zhidong Deng
Research and Application of Elevator Energy-Saving Devices with Super Capacitor to Store Energy

For the problems of complex control and harmonic interference when elevator’s regenerative braking energy feed back to the grid, The paper presents an energy saving program. Renewable energy is stored with super capacitors and used locally. The paper analyzes the basic operating principle of the super-capacitor energy storage device and power operation curves in different conditions. The elevator energy consumption experiments are completed in five typical working conditions. Experimental results show that super capacitor energy storage device of the elevator is stable and has a good energy saving effect.

Zehua Yao, Jianru Wan, Bin Li, Jianxiong Qian, Sheng Wang
The Design of Elevator Failure Monitoring System

In view of inconformity of various elevator controller interface signals, a common elevator failure remote monitoring system is designed in this paper. In the monitoring system, a common elevator signal acquisition device is developed, and the collected signals are processed and made logical judgment by Mono-Chip Computer (MCU) as processor, then the results are transferred to the elevator failure monitoring interface by communication system. It can provide a convenient and visual solution for discovery, analysis, and elimination of the elevator failure in service.

Zehua Yao, Jianru Wan, Xiangwei Li, Liguang Shi, Jianxiong Qian
Reconfiguration of Aircraft Distributed Power Distribution System Based on Multi-Agent

The reconfiguration strategy of aircraft distributed power distribution system using the Multi-Agent approach was explored. Firstly sequential storage structure was used for network topology coding, thus feeding branches between adjacent bus nodes were recorded. Secondly, a multi-agent system was established based on layered and federal structure. Structure of the MAS and the information exchange method were described in detail. Thirdly, an example was cited to illustrate the configuration method. Simulation results showed that the method proposed in this paper could trade and detect network topology and working status automatically and restore power supply to load points in the context of fault isolation.

Ling Zhang, Lin Cai, Li Wang
A Method of Delay Compensating for UPQC Compensations Detection without PLL

UPQC compensation detecting has characteristics of high precision and fast dynamic response. The article gave the solution in order to mitigate the influences of hardwire and calculation delay problems which existed in compensations detection used synchronous coordinate transformation without PLL. The accuracy has been improved by correcting the reference rotation angle in the matrix of synchronous coordinate transformation to compensate the delay coursed by hardwire circuit such as sampling. Meanwhile, state feedback was introduced to make up the calculation defect of low-pass filter in to speed up dynamic response. Finally, the simulation results verified that this solution applied in UPQC compensation detection is feasible and effective.

Jianru Wan, Hailiang Zhou, Zehua Yao, Jianxiong Qian
Research on Optimum Energy Control Method for UPQC Based on Super Capacitor Energy Storage System

As UPQC based on super capacitor energy storage costs a long time to compensate the power, the optimum energy control strategy is proposed in this paper. This strategy obtains the injection angle of the compensation voltage by PSO by analyzing the optimal stable power of UPQC. This strategy uses bi-direction DC/DC circuit to reduce the capacity of UPQC devices, which can extends the compensation time without increasing energy storage capacity and enhances operation economy. The control method is verified possible and effective by theoretical analysis, simulation and experiment results.

Jianru Wan, Zehua Yao, Shuchao Li, Jianxiong Qian, Shuang Han
Quality Control of Sensor Network Data

A wireless sensor network (WSN) is a group of sensors that are geographically distributed and interconnected by wireless networks. Sensors gather information about the state of physical world. Then, after processing forward them to the main destination. To be able to provide this service, there are many aspects of communication techniques that need to be explored. Supporting quality of service (QoS) will be of critical importance for pervasive WSNs that serve as the network infrastructure of diverse applications. To illustrate new research and development interests in this field, this paper examines and discusses the requirements, critical challenges, and open research issues on QoS management in WSNs. A brief overview of recent progress is given.

Davood Izadi, Jemal Abawajy, Sara Ghanavati
The Design on Intelligent Logging Unblocking Device

Based on the actual situation that the well logging instrument is blocked on its way down to the well, by using electrical integration technology, we put forward an intelligent logging unblocking device which integrated with detection technology, control technology and mechanical technology. We designed the overall program, chose the model of acceleration sensor and DC motor, designed a mechanical system structure of the device which includes a logging instrument, a shell and a drilling, etc, developed an acceleration collection system of the intelligent logging unblocking device based on single chip and a DC motor control system. When the well logging instrument can not go down to the oil well or is blocked, the system can dredge the way of the well and then enable the well logging instrument go down to the oil well successfully.

Yang Yu, Ming Chi
Generation, Testing and Calibration of Periodic Signal Distortion

The module of uniform transmission line is established. Using complex frequency analysis, the generation of signal distortion is indicated by the attenuation coefficient and phase coefficient. According to the different effect of each component on the total signal, the level of signal distortion is judged and the filter situation is decided, by the introduction of Fourier Transformation and the recording of the signal input at the terminal of the transmission line. In the case of parallel resonance, the resonance point is determined when the signal, after one component input superimposes on it, matches the signal input. Both correction methods in sine and non-sine transmission are demonstrated aiming at the burr, by a standard sine wave recorded at the terminal of the transmission line.

Huixin Zhang, Sai Qi, Yong Zhou
Properties of the Fifth Type of Covering-Based Rough Sets

Rough set theory has been proposed by Pawlak as a useful tool for dealing with the vagueness and granularity in information systems. Classical rough set theory is based on equivalence relation. The covering rough sets is an improvement of Pawlak rough set to deal with complex practical problems which the latter one can not handle. This paper studies covering-based generalized rough sets. In this setting, a covering can also generate a lower approximation operation and an upper approximation operation, but some of common properties of classical lower and upper approximation operations are no longer satisfied. We investigate conditions for a covering under which these properties hold for the covering-based lower and upper approximation operations.

Jiaqing Zhou, Hongmei Nie
Research on Strain Measurement of Abyssal Riser with FBG Sensors

Marine riser fatigue damage in the hostile ocean environments is the fatal issue for deep and ultra deep waters petroleum and gas drilling and productions during. Strain detecting provides a direct measure of the riser fatigue. One riser fatigue monitoring formula based on FBG sensor with orthogonal distribution was researched which takes into account temperature compensation function. Mathematical model for calculating stress and bending moment of riser with the relative change in the Bragg wavelength was presented. One riser stress-strain measuring device based on FBG sensor was designed. Strain measurement tests of a riser scale model were performed. The study shows that the riser fatigue monitoring formula based on FBG sensor presented in this paper is reasonable, and the research results provide the technical support for field practice.

Baojun Li, Haiyan Wang, Xiaohong Shen, Dexing Yang, Shiquan Jiang, Liangbing Xu
Comparison Evidential Fusion Network with Decision Tree for Reliable Contextual Information

In intelligent environments, detecting possible errors and completing missing values then deciding about the quality and validity of the sensed data are roles of context reasoning in order to improve the reliability of information. Particularly, learning to associate operations and roles with dynamic contexts is necessary for adapting user needs and making optimal classification to context-aware computing. However, a top-down based inference has difficulty to deal with various kinds of uncertainty such as unknown, ambiguous, imprecise, and erroneous related problems. Since misclassification by high-level classification to choice for learning the role acceptance may lead to wrong decision. Thus, we propose Evidential Fusion Network (EFN) that uses a belief or confidence level of information as a bottom-up based inference. In order to analyze advantage and disadvantage of the proposed EFN, we compare our approach (bottom-up) with decision tree approach (top-down). Finally, we suggest the combination of top-down based analysis and bottom-up based inference as a context reasoning method for obtaining reliable information.

Hyun Lee, Byung Rak Son, Jung Eun Kim, Sang Cheol Lee
Research on Key Technology of LXI Bus Instrument Interface System

The research and development on LXI bus technology are still in its infancy at present, this paper in-depth study on LXI bus specification standard and track the development of international auto-test technology. Mastering LXI bus core technologies and developing LXI bus interface system equipment can lay the foundation of develop LXI bus instruments.

Li Ming, Liang Siyang, Fu Wei
A Study about the Prediction of University Library Lending Based on Multiple Regression Analysis

The change of library lending depends on the change of the number of readers and the books that a library possesses. Library lending has a strong association with the number of readers and the library collection. The author has investigated library lending, the number of readers and the collection of a university library in China for 18 school years. The prediction model of library lending with the number of readers and the collection as the independent variables is constructed. The result of F-test and t-test proves that a strong linear relationship exists between library lending and the number of readers, the collection. The prediction value of new observations of library lending is obtained in accordance with the prediction equation. The author gives the methods of calculating confidence interval of the mean library lending and prediction interval of a single library lending in the school year 2010-2011.

Bao Sun
Feature Fusion and Prototype Learning Algorithm Based Smoking Shot Recognition

This paper present a novel human smoking shot recognition method based on feature fusion and the prototype learning algorithm. We first extract the color feature and the texture of the skin patch and the cigarette patch. Then we use the subspace learning algorithm to fuse the features. The prototype learning algorithm based on metric learning is used to classify the fusion features. The experimental results show the effectiveness of our method.

Wuping Zhang, Pengfei Zhu, Xinzhe Wang, Wentao Tian
Information Visualization of Water Supply and Groundwater

The demand of high-quality water for drinking is growing as the interest of well-being increases and the lack of water resource is concerned. So, We propose how to visualize the information of water supply and groundwater, which are hidden under the ground, using IT fusion approaches. First, we developed a visualization system of the water supply information using IT tools like Flex and MAP API supported by a search portal. Second, we implemented a graphical view of the groundwater information with 3D Max. As a result, we can provide the information visualization for people who are interested in the flow of the fresh water to their home through water supply. Also, we can show how the groundwater level changes, depending on the precipitation per region. Information visualization for water supply can clearly give a sound trust that tap water is safe to drink because the whole process that the fresh water flows from the underground to the home can be vividly seen. In case of the groundwater, information visualization would be helpful in managing the groundwater and predicting the groundwater deposits.

Sang Gon Woo, JinLong Piao, Hyung Chul Kim, Cheol Min Kim, Seong Baeg Kim
IT Fusion-Based Correlation Analysis between Jeju Regional Rainfall and Groundwater Level

The shortage of groundwater deposits and a pollution problem unexpected can occur if Jeju water industry grows fast and the amount of use of groundwater increases. Therefore, it is required to prepare more sophisticated and systematic management plan for maintaining Jeju high-quality groundwater using advanced information technology. So, we propose how tofind out the correlation analysis between Jeju regional rainfall and groundwater level. For the correlation analysis, we used data analysis tools like SPSS and Weka based on data mining techniques. We introduced the concept of the sensitivity and devised an approach for finding out the strong positive correlation between them. Our analysis scheme will be helpful to predict the changes of the groundwater deposits according to rainfall per region on Jeju island.

JinLong Piao, Seong Baeg Kim, Hanil Kim
Mobile Digital Storytelling Development for Energy Drink’s Promotion and Education

Digital storytelling is the process in which stories are expressed in digital media, which is invaluable due to the limitless potential in the field of advertisement and education. An intriguing digital storytelling is to have engaging and high sensual stimulating animations that contain the narration required for the desired result. For this study, we deal with energy drinks which have recently had a high attention and rapidly growing markets. In particular, we focus on Jeju specific energy drinks along with a narration for hand-held devices such as mobile phones by implementing interactive animations which include a touch interface and a narration involved.

Yong-Seok Kim, Min-Ji Han, Chang-Jun Hong, Seong Bo Ko, Seong Baeg Kim
Agile Automation Systems Based on Cyber-Physical Systems and Service-Oriented Architectures

Nowadays, manufacturing companies have to face increasing challenges to keep pace in our globalized world. The key enabler to fulfill the rising demands is an industrial automation system that supports dynamically changes of the manufacturing equipment and the automation software with low effort. Since current automation systems aren’t able to meet these requirements, we need significant changes. Therefore, we present our vision of the automation network that is based on the concepts of Cyber-Physical Systems and Service-oriented Architectures. For realizing this vision we point out which aspects and influencing factors have to be taken into account and propose approaches for a gradual implementation.

Detlef Zühlke, Lisa Ollinger
A Straightforward Algorithm to Transform Robot Control State Machines into Verifiable Lotos Specifications

Formal methods have exhibited as a promising technique that provides verifiable specifications for highly reliable software. However from the practical robotics perspective, formal methods remain unaccustomed among real-world robotic control software projects. The underlying reason is the unreasonable fear in working with purely theoretical foundations of formal methods and as a consequence many of their remarkable abilities are often ignored.

We try to establish a particular relationship between a particular form of State Machines as the prevalent modeling language applied in many robotic control software industries on one side, and the formal Lotos specification language as the general specifying language for open distributed systems, on the other side. We present a quite straightforward algorithm to transform refined state machines into Basic Lotos Specifications so that it can be further implemented as a program to mechanize the transformation process.

Reza Babaee, Seyed Morteza Babamir
A Multitasking System Based on RTX51

In this paper, main task processing strategies of multi-tasking operating system RTX51 are discussed, with summary analysis of its internal kernel. On the basis of above results, a multi-task processing example is designed and implemented, which take a MCU as core with commonly used input and output components of intelligent instrument. The example can be easily transplanted into other applications, so it is of typical significance to the design of complicated multi-tasking system.

Guoan Zhang, Longmei Tang, Jishi Zheng
A Small Tracked Robot for Cable Tunnel Inspection

A small tracked robot for cable tunnel inspection has been proposed and designed, which is made up of two side track movement mechanisms driven independently and posture adjusting mechanism, so the robot owns better movement flexibility and obstacle-climbing capability. Using posture adjusting mechanism between two side tracks, the robot could not only adapt to the tunnel with smooth pavement, but also adapt to pipelines with different diameters. The robot owns camera, CO, CO

2

, SO

2

, CH

4

, smog and humiture sensors, and the information of tunnel collected by these sensors could be transmitted to in-hand controller on the ground and displayed with imaging pattern. So operators could find problems and maintain the cables in time to avoid accident. The inspection working of robot could enhance safe reliability of power transmission network effectively and improve security detection automation level of power transmission lines underground.

Shufeng Tang, Shihui Chen, Qiong Liu, Biao Wang, Xiaohong Guo
A Novel RFID Authentication Protocol with Ownership Transfer

RFID technology has a wide application in many fields. However, there are many security and privacy issues. The paper presents a RFID security proposal to enhance security levels. It is established as following steps. It first builds a security communication channel, then implements tags and corresponding reader authentication, finally solves the ownership transfer issue. This protocol involves minimal interaction between tags and corresponding reader, which can efficiently lower the computational burden on the tag. Its security is verified by BAN logic.

Han Jia, Jun Wen
Research of Trenchless Detection Technology and Equipment of Small-Caliber Buried Oil and Gas Pipeline

Pipeline transportation is a security, economical and effective transportation mode of fluid, and is widely used in petroleum, gas and other fields. The detection of small-caliber buried oil and gas pipeline under trenchless is an important means to master the situation of small diameter buried pipeline and to ensure the safe operation of pipeline. To ensure the straightway and safe operation and disaster prevention of oil and gas pipelines, the paper analyzes the status of trenchless detection technology of existing small-diameter underground oil and gas pipeline, proposed new technologies and countermeasures of detection of small-caliber buried oil and gas pipeline, constructed technology and equipment of detection of small-caliber buried pipeline.

Zhen Zhang, Zhuxin Li, Yi Su, Jun Chen
Research of Path Planning in Virtual Scenes Based on Ant Colony Algorithm and Axis Aligned Bounding Boxes Collision Detection Technology

A kind of path planning method based on ant colony algorithm is proposed for the path planning problem in Complex virtual scenes. The improved axis aligned bounding boxes collision detection technology is introduced to the algorithm, The constraint conditions of the path planning are combined with the searching of the following path points to reduce the search space and enhance the efficiency. Simulation examples show that we could finally acquire the optimum path by the method which is practicable and applicable.

Jian-min Wang, Hong Yin, Wen-bin Xie, Guo-qing Qiu, Ji-heng Xu, Ying Huang
An Effective and Efficient Perceptual Organization Method for Image Segmentation

Existing approaches of perceptual organization are either less effective or less efficient. Here, we propose an effective and efficient perceptual organization method for image segmentation. The method is characterized by following: Firstly, Region Adjacency Graph (RAG) representation is adopted in the method, which reduces the computation complexity suffered by previous organization methods. Secondly, region-wise global weights are defined in RAG by utilizing global optimization criterion, which increases the effectiveness of our proposed organization method. Segmentation results validate the efficiency and effectiveness of the proposed organization method for image segmentation.

Yingjian Qi, Xu Yang
Research on an Autonomous Traffic Information System Based on Inter-vehicle Communication Ad Hoc

This paper studies and presents a pattern for an autonomous traffic information system based on Ad Hoc. In this pattern, the traffic information about travelling time of road section and average travelling speed is collected automatically by moving vehicles in the road net, with no need for fixed facilities for traffic information collection and publication. With the use of the vehicle flow in the road net and the change of Ad Hoc overlapping, the collected traffic information is transmitted, received and integrated through inter-vehicle communication and thus real-time traffic information of the whole road net is formed. Besides, this paper also studies and builds the models of automatic collecting, transmitting and integrating, based on Ad Hoc, of traffic information, and the model of automatic updating of road net traffic information.

Qi Zhang
Development of a Virtual Humanoid Model Using the Denavit-Hartenberg Parameters as a Base for Visual Feedback Applications

In this paper a virtual humanoid model based on the Denavit-Hantenberg (DH) parameters is described and proposed as a base for the development of future visual feedback applications to estimate human position, pose or motion. The virtual humanoid can replicate human body poses, has the center of the coordinate system located on the pelvis, and the stand up is the reference or zero pose. The position and orientation of the humanoid body links are determined according the DH frame conventions and the image of the model can be used in additional visual feedback applications.

Davinia Font, Tomàs Pallejà, Mercè Teixidó, Marcel Tresanchez, Jordi Palacín
Knowledge Map and Knowledge Management Tools to Support Distributed Product Design

In order to support distributed design work, it is necessary to use all kinds of geographically dispersed design expertise and knowledge as soon as possible. At the same time, all the knowledge base is asked to accumulate and update, as well as to retrieve and share. This paper focus on the knowledge map and knowledge management tools to support distributed design. Design activity in distributed product design includes calculation and reasoning, as well as simulation and evaluation. Design knowledge includes formula and rules, as well as constraints. The object of product design knowledge management includes the knowledge of the product domain, the design process knowledge and the expert with design knowledge. Knowledge management architecture can be described as four layers, which are management tool layer and basic management layer, as well as high management layer and knowledge integration layer. Knowledge map is used to connect all knowledge nodes with different kinds of knowledge base. To increase the transparency and agility of knowledge map, the knowledge indexing is a very important work. Knowledge expert can move along six paths that are central for effective knowledge visualization in product design contexts. The XML based knowledge index support building knowledge map automatically, and provide user information about the design knowledge. The map is constructed in the text based SVG format, so user can search the needed knowledge by key words. The basic element of product design knowledge is represented as BNF format. Some technologies of management tools had been analyses.

Jiang Zuhua, Su Hai, Huang Yongwen
The Inverse Kinematics Solutions of Robot Manipulators with Offset Wrist Using the Offset Modification Method

It is no closed-form solutions for 6R robot manipulators without three consecutive joint axes parallel or three adjacent joint axes intersected a common point. In this paper, the offset modification (OM) method was applied to solve the inverse kinematics problem of these types of manipulators which didn’t have closed-form solutions. A robot manipulator model of TA1400 with offset wrist was built by the OM method. And then three nonlinear equations were derived from the difference between the forward kinematics equations of the model robot manipulator and the TA1400 manipulator. Eight sets of inverse kinematics solutions of TA1400 were obtained by the three nonlinear equations with the fixed-point and the Steffensen iterative method. The results show that the orientation errors of the eight sets of solutions are all less than 10

− 15

and the position errors are less than 10

− 4

mm, which meet the requirements of the industrial robot’s positions and orientations precision. The assembly experiments of TA1400 in ADAMS show that curve of each joint angle are smooth and continuous using the OM method. These results and experiments proved that the offset modification method can be applied to solve the inverse kinematics of industrial robot manipulators with front offset wrists.

Haihong Pan, Bing Fu, Lin Chen, Junjie Feng
Backmatter
Metadaten
Titel
Advances in Automation and Robotics, Vol.1
herausgegeben von
Gary Lee
Copyright-Jahr
2012
Verlag
Springer Berlin Heidelberg
Electronic ISBN
978-3-642-25553-3
Print ISBN
978-3-642-25552-6
DOI
https://doi.org/10.1007/978-3-642-25553-3

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