Conference Program of WCICA 2012

Conference Program WCICA 2012
solution for solving the management and security problems. Moreover,
the proposed approach avoids the pixel expansion
WEI, Junming
WANG, Zhiliang
Australian National Univ.
Univ. of Sci. & Tech. Beijing
◁ PSaB-64
Research and Application of Image Enhancement, pp.4596–4600
Zhang, Ying
Univ. of Anshan
According to the characteristics of gray image, histogram equalization,
image smoothing, image sharpening and Wavelet transform for image
processing are adopted, and the improved algorithm to make up some
limitations and shortcomings are used in this paper. By analyzing the
experimental results, the range of applications of the different enhancement
algorithms are obtained.
◁ PSaB-65
A particle filter tracking algorithm based on adaptive feature fusion s-
trategy, pp.4612–4616
XU, Fen
North-china Univ. of Tech.
The design and implementation of a particle filter tracking algorithm
based on adaptive feature fusion of color histogram and edge orientation
histogram is introduced. Experimental results show that the feature
fusion tracking algorithm is more robust, especially when the target is
moving in a varying environment, compared to that of single feature
tracking algorithms. The adoption of two features increased the computational
complexity inevitably. To avoid degeneracy of tracking speed,
integral edge orientation images are built up. The final algorithm, running
on a Pentium IV computer, can track pedestrians walking at normal
speed effectively.
◁ PSaB-66
Solving Integrative Matching Model of Inventory in Continuous Casting
and Hot Rolling Processes by Improved Genetic Algorithm, pp.5133–
5138
Li, Haitao
Univ. of Sci. & Tech. Beijing
To solve the problem of matching slabs and coils against orders in the
process of hot rolling production in steel industry, we introduce matrices
in which the element indicates difference between slab material and s-
teel required in order, and also matrices in which the element indicates
difference between coil and steel required in order. A multi-objective
0-1 programming model is established. And then, an improved genetic
algorithm with sub-integer encoding method and heuristic repair strategy
is proposed. Finally, effectiveness of the model and algorithm is
verified by simulation based on actual production data. Simulation experiments
show that the proposed method could gain more scientific
and reasonable matching results.
◁ PSaB-67
Dynamic Model and Balancing Control for Two-Wheeled Self-Balancing
Mobile Robot on the Slopes, pp.3681–3685
Peng, Kui
Ruan, Xiaogang
Zuo, Guoyu
Beijing Univ. of Tech.
Beijing Univ. of Tech.
beijing Univ. of Tech.
This paper studies the balance control of two-wheeled self-balancing
robot on the slope. The dynamic model was first established using Lagrange
method, which was proved correct by the simulation results of
its zero-state response and zero-input response. A set of balance e-
quations were then obtained from the kinetic model, and the Lyapunov
method was carried out to estimate its stability and controllability. Finally,
the robot’s linear model in the equilibrium position was obtained.
The linear quadratic optimal regulator was designed to control its attitude
and speed. The simulation results show that the two-wheeled
self-balancing robot in the slope situations can keep balance without
displacement.
◁ PSaB-68
A Novel Scenario of Task Planning for Multi-robot Collaboration System,
pp.3770–3775
Shi, Zhiguo
Hu, Kaihang
Tu, Jun
Univ. of Sci. & Tech. Beijing
Univ.of sci.&Tech.Beijing
Univ. of Sci. & Tech. Beijing
This paper presents a novel mission planning solution, which aims to
further improve the efficiency of accomplishing task in multi-robot collaboration
system. The novel mission planning solution includes task
decomposition and task allocation; besides, it divides task into decomposable
and non-decomposable. The decomposable task needs to
meet certain conditions, and the necessary and sufficient conditions
for decomposability of a task are able to apply parallel composition and
natural projections. This paper mainly researches on the decomposable
task and introduces four decomposability conditions. In addition,
the task allocation algorithm is based on reputation mechanism, which
is gained from the evaluation of the completion of historical tasks. Task
attempts to be assigned to the robot with relatively higher reputation,
which can greatly improve the success rate of its mandate implementation.
Finally, through the simulation results it can draw the conclusion
that the novel mission planning solution can be used in multi-robot collaboration
system, and has good efficiency.
◁ PSaB-69
Residual Vibration Suppression Using Off-line Learning Input Shaping
Method for a Flexible Joint Robot, pp.3858–3863
Qiang, Yanhui
Inst. of Automation, Chinese Academay of Sci.
This paper presents a two-impulse input shaping method using off-line
learning method to suppress the residual vibration of a flexible joint
robot which is considered as perform repetitive tasks. It has been
proved that the two-impulse input shaping method has the ability to suppress
time-varying or nonlinear residual vibration. However, the parameters
of the input shaper are difficult to select. In this paper, a method
based on the off-line learning is presented to determine the proper parameters.
We found that the torque of the joint can reflect the residual
vibration through analysis of relations between the residual vibration
and torque of the flexible joint robot. Thus, the torque signal of the joint
is used to measure the vibration magnitude and no additional sensors
for vibration measurement are required. For the nonmeasurable of the
phase of the residual vibration, only the vibration magnitude is used to
update the parameters of the input shaper off-line until the minimum
vibration is obtained. The initial parameters of the input shaper also
are estimated in this paper. Simulations are conducted to suppress
residual vibration of a flexible joint robot, thereby demonstrating the effectiveness
of the off-learning learning input shaping method.
◁ PSaB-70
Airfoil design and aerodynamic force testing for flapping-wing Micro Air
Vehicles, pp.3933–3938
Xia, Wen
Su, Gang
Shengyang Ligong Univ.
Shenyang Inst. of Automation Chinese Acad. of
Sci.
We designed a X-type wing of flapping-wing Micro Air Vehicles (MAV)
and doing some aerodynamic force testing by the flapping-wing MAV
aerodynamic force testing device which designed by ourselves. In order
to study the relationship of aerodynamic force on the flapping-wing
models, we do these tests of different flapping-wing models in different
angles of attack and flapping frequency. Found that X-wings flapping
wing MAV rely mainly on aerodynamic wings folded back when the compressed
gas emitted and received; increase the X-wings flapping wing
MAV flapping frequency can significantly increase aerodynamic wings;
and X-flapping wing MAV Aerodynamic wing root shoot ratio and aspect
ratio with the decrease, inversely proportional to the relationship.
◁ PSaB-71
Development of Flapping-wing Micro Air Vehicle in Asia, pp.3939–3942
Zhang, Weiping
Shanghai Jiao Tong Univ.
The purpose of this paper is to provide a review of recent developments
in Flapping-wing Micro Air Vehicles (FMAV) in Asia in past few
years. The paper discusses recent Asian research in the development
of FMAV and summarizes two major strands of research divided by
insect-like FMAVs and bird-like FMAVs. Also the paper summarizes
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