Conference Program of WCICA 2012

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Conference Program WCICA 2012 to meet the requirement that enterprise run optimally in cloud manufacturing and SOE. This paper analyzes the relation between enterprise services and computing/manufacturing resources. Then the artificial enterprise model is built. Then various resource configuration schemes are loaded in it and the computational experiments are done to run these schemes. By comparing the experiment results the optimal scheme is obtained for the enterprise. Thus the demand of the enterprise is satisfied. ◮ SuA04-3 14:10–14:30 Convergence and Consensus Analysis of Multi-Choice Deffuant- Weisbuch Models, pp.4010–4015 Zhang, Jiangbo Hong, Yiguang Acad. of Mathematic & Sys. Sci., C.A.S Chinese Acad. of Sci. In this paper, we consider the convergence of generalized Deffuant- Weisbuch (DW) model. The generalized models result from the extension based on two multi-choice policies. The convergence for the multi-choice protocols are investigated with the help of stochastic analysis. The analysis is given to make all the opinion agents converge to their own opinion points for the first model. Moreover, the consensus can be achieved almost surely under mild assumptions for the second model. ◮ SuA04-4 14:30–14:50 An Efficient Surrogate Optimization Method for Solving Linear Mixed- Integer Problems with Cross-Coupling Constraints, pp.4055–4060 Bragin, Mikhail Luh, Peter B. Yan, Joseph Univ. of Connecticut Univ. of Connecticut,USA Southern California Edison Many optimization problems that frequently arise and have been extensively used in practice are modeled as linear mixed–integer programming problems. Among the many of such problems are transportation and assignment problems. In such problems, constraints that couple decision variables can be viewed as hyperplanes in their respective s- paces. These hyperplanes frequently intersect at different angles thus making the feasible set of the problems complex and leading to difficulties defining the convex hull when using the cutting planes method. The efficiency of branch-and-cut is therefore low, since the branching tree grows quickly due to the combinatorial nature of these problems. This paper overcomes these difficulties by using additional cuts that can better define the convex hull. Thus when the Lagrangian relaxation and surrogate optimization method is used, the computational burden of obtaining the multiplier updating directions is significantly reduced. In the surrogate optimization framework, the constraints of the original problem are relaxed by introducing the Lagrange multipliers. After a good dual solution is found, it is then improved to obtain a good feasible solution, while the dual value provides a lower bound on the feasible cost. Numerical examples indicate that the surrogate optimization can obtain feasible solutions when the standard branch–and–cut method cannot. Additional cuts help improve the feasible solutions and tighten the lower bound. ◮ SuA04-5 14:50–15:10 The Study on the Characteristics of Emergency Classification and Grading about the Electromechanical Equipment Integration Project, pp.4093–4097 Wang, Ya-hui Hao, Xue-Jun Wang, Chaogang Wang, Nan Beijing Univ. of Civil Engineering & Architecture Beijing Univ. of Civil Engineering & Architecture Beijing Univ. of Civil Engineering & Architecture Prudent machinery Co., LTD As an important part of a modern construction project, the electromechanical equipment integrating project needs to face internal and external environment changing and different continually happening emergency. It is more and more important to carry on emergency management to achieve the given objective of the project. This paper puts the project as the main body, based on the description and analysis of the emergency of the electromechanical equipment integrating project, proposes the electromechanical equipment project emergency management program, and establishes its completed system, which provides an important reference for the design of the emergency management system, and offers a new idea of project emergency management research. ◮ SuA04-6 15:10–15:30 Service Composition Execution Optimization based on State Transition Matrix For Cloud Computing, pp.4126–4131 LIU, Sheng XIONG, Gang Zhao, Hongxia Dong, Xisong YAO, Jian-shi Inst. of Automation,Chinese Acad. of Sci. Inst. of Automation,Chinese Acad. of Sci. Chinese Acad. of Sci. Inst. of Automation, Chinese Acad. of Sci., The Chinese People’s Liberation Army It is difficult to select a composite service with the lowest actual executing cost using the existing methods for QoS-aware service composition in cloud computing. By analyzing the dynamic execution process of composite service with state transition matrix, this paper proposes a new QoS aware optimal service composition method. In view of the effect of composite services reliability on the composite service performance, the method regards the cost averaged for one time of successful execution of a composite as its actual executing cost, and then selects the composite services with the aim of minimizing the composite service execution cost. The simulation result shows that the proposed method is superior to other methods in execution cost. SuA05 13:30–15:30 Room 203E Robotics (III) Chair: Zhu, Xiaorui Co-Chair: Wang, Fan Harbin Inst. of Tech. Shenzhen Graduate School Shenzhen Inst.s of Advanced Tech., Chinese Acad. of Sci. ◮ SuA05-1 13:30–13:50 Attractor Design and Prediction-based Adaption for a Robot Waltz Dancer in Physical Human-Robot Interaction, pp.3810–3815 Wang, Hongbo Kosuge, Kazuhiro Tohoku Univ. Tohoku Univ. Physical human-robot interaction between a human leader and a robot follower in waltz is studied in this paper. The dancers’ body dynamics in single-support phase are modeled as inverted pendulums. On the robot side, an ankle torque control method is proposed and applied. The control law forms a time-dependent vector field, which makes the nominal orbit of the robot to be an attractor. To physically interact with human, the human leader’s state is estimated from range image data by using an extended Kalman filter. Parameters of the robot’s orbit are then adjusted according to the leader’s estimated and predicted state. The proposed method is verified by simulation results. ◮ SuA05-2 13:50–14:10 Walking Control for Compass-like Biped Robot with Underactuated Ankle, pp.3852–3857 Tang, Chong Yan, Gangfeng Lin, Zhiyun Zhejiang Univ. Zhejiang Univ. Zhejiang Univ. The paper aims at solving the walking control problem of a compasslike biped robot with underactuated ankle on the level ground or even uphill environment. The compasslike biped robot is equipped with a constraint mechanism to lock the hip angle when the swing leg retracts to a desired angle. For this system, an angular momentum based control is presented in order to make the biped robot walk on little downhill slope or even uphill. Existence conditions of limit cycle under angular momentum based control are presented. They can be used to determine whether there exists a gait on the slope or not. Furthermore, we apply the method of Poincare return map to analyze the stability property of the gait with angular momentum based control. Finally, an event-based control is adopted to make the walking gait of compasslike biped robot asymptotically stable. ◮ SuA05-3 14:10–14:30 A Real-Time Human Imitation System, pp.3692–3697 208
WCICA 2012 Book of Abstracts: Sunday Sessions Wang, Fan Tang, Cheng Ou, Yongsheng Xu, Yangsheng Shenzhen Inst.s of Advanced Tech., Chinese Acad. of Sci. Shenzhen Inst.s of Advanced Tech., Chinese Acad. of Sci. Chinese Acad. of Sci., Shenzhen Inst.s of Advanced Tech. The Chinese Univ. of Hong Kong Robot imitation is a useful tool in humanoid robot research, it provides a natural way of teaching a complex humanoid robot to accomplish human-like behaviors. However, it is never an easy task to build such a system robustly due to the high degree of freedom (DOF) in human motion and difficulty in humanoid control. In this paper, we present a system built up by the Microsoft Kinect box and the Aldebaran NAO Humanoid robot, which can mimic full body human motion in real time. By applying inverse kinematics through an optimization process, the human motion was split up into critical frames and represented by a list of robot joint angles. Then a second order continuous trajectory is formed to drive each joint toward the target angle, followed by balance control and selfcollision avoidance system. The tests show that the system is robust and flexible enough to imitate various human motions. ◮ SuA05-4 14:30–14:50 Automatic Violin Player, pp.3892–3897 Huang, Hsing-Hisn Minghsin Univ. of Sci. & Tech. The purpose of this research is to build an automatic violin player. The method is to study the violin playing skill, and to develop the automatic mechanism. This research is an extension work of the previous violin robot. The new robot consists of two mechanical systems. The first system is the bowing mechanism, which is able to control the bowing velocity and position. The second system is the violin control mechanism. This system can rotate the violin to a specific angle to coordinate with the string-changing movement of the bow. It also possesses a fingering device, which is able to press on several fixed positions in correspondence with the notes of the music. The automatic violin player utilizes a PC-based controller, and is able to play many famous songs. ◮ SuA05-5 14:50–15:10 Mechanical Design of a Slider-Crank Centered Robotic Dolphin, pp.3741–3746 Wei, Changming Yu, Junzhi Inst. of Automation, Chinese Acad. of Sci. Inst. of Automation, Chinese Acad. of Sci. This paper addresses the mechatronic issues of a novel bio-inspired robotic dolphin capable of fast swimming. The robot mechanically consists of a dorsoventrally propulsion mechanism, a turning mechanism, and an up-and-down mechanism. Since the swimming robot is predominantly driven by a series of DC motors and servo motors, the possible alternative to improve the swimming speed is to maximize the motor efficiency. Based on this idea, a new slider-crank centered flapping mechanism with the continuous rotation of the DC motor is proposed to mimic the oscillations of the posterior body and the fluke. Finally, the preliminary robotic prototype is built to validate the effectiveness of the formed robotic design ideas. ◮ SuA05-6 15:10–15:30 Vision-based Unscented FastSLAM for Mobile Robot, pp.3758–3763 Qiu, Chunxin Zhu, Xiaorui Zhao, Xiaobing Harbin Inst. of Tech. Shenzhen Graduate School Harbin Inst. of Tech. Shenzhen Graduate School Harbin Inst. of Tech. Shenzhen Graduate School This paper presents a vision-based Unscented FastSLAM (UFast- SLAM) algorithm combing the Rao-Blackwellized particle filter and Unscented Kalman filte(UKF). The landmarks are detected by a binocular vision to integrate localization and mapping. Since such binocular vision system generally inherits larger measurement errors, it is suitable to adopt Unscented FastSLAM to improve the performance of localization and mapping. Unscented FastSLAM takes advantage of UKF instead of the linear approximations of the nonlinear function where the effective number of particles is used as the criteria to reduce the particle degeneration. Simulations and experiments are carried out to demonstrate that the Unscented FastSLAM algorithm can achieve much better performance in the vision-based system than FastSLAM2.0 algorithm on the accuracy and robustness. SuA06 13:30–15:50 Room 302 Pattern Recognition Chair: Zheng, Suiwu Co-Chair: Li, Kun Inst. of Automation, Chinese Acad. of Sci. The Chinese Univ. of Hong Kong ◮ SuA06-1 13:30–13:50 A Comparative Study of Endoscopic Polyp Detection by Textural Features, pp.4671–4675 LI, Baopu The Chinese Univ. of Hong Kong Digestive tract cancer is a big threat to human and capsule endoscopy (CE) is a relatively new technology to detect the diseases in the small bowel. Since polyp is an important symptom of digestive cancer it is important to detect them by computerized methods. In this work, we comparatively investigate computer aided detection for polyps by machine learning based methods that are built upon color textural features. Four textural features, wavelet based features, color wavelet covariance, rotation invariant uniform local binary pattern and complete local binary pattern, are utilized to characterize the textural features in CE images, and performance of them are extensively studied in three different color spaces, that is, RGB, HSI and Lab color spaces. ◮ SuA06-2 13:50–14:10 Simplified Minimum Enclosing Ball based Fast Incremental Support Vector Machine (SVM) Algorithm for Person Detection and Tracking, pp.4936–4941 Zheng, Suiwu Qiao, Hong Jia, Lihao Fukuda, Toshio Inst. of Automation, Chinese Acad. of Sci. Inst. of Automation, Chinese Acad. of Sci., China Inst. of Automation, Chinese Acad. of Sci. Nagoya Univ. In order to meet the requirements of stable person detection and tracking techniques in dynamic visual system, we propose a simplified minimum enclosing ball based fast incremental support vector machine (SVM) algorithm for person detection and tracking. Based on the simplified minimum enclosing ball (MEB) method, we propose a simplified and fast incremental algorithm to compute the MEB. By utilizing the e- quivalence between MEB and the dual problem in SVM, we achieve the online and incremental adjustment of the SVM classifier coefficients. The proposed method do not need to solve the quadratic programming problem. It is fast for training. Moreover, it can achieve the online update of classifiers for object tracking with small sample size. Finally, the efficiency of the proposed incremental SVM is validated by detection experiments on dynamic pedestrians tracking system. ◮ SuA06-3 14:10–14:30 Fast Eye Localization Based on a New Haar-like Feature, pp.4825– 4830 Chen, Yefei Su, Jianbo Shanghai Jiao Tong Univ. Shanghai Jiaotong Univ. This paper focuses on fast eye localization method. According to the priori proportional relationships of face features, we firstly set an appropriate candidate window from the face region detected. Secondly, histogram equalization is applied on the candidate region to eliminate illumination effects. This paper presents a new haar-like feature generating the confidence of the feature throughout the candidate region in order to locate eyeball accurately and rapidly. Our method is proved to be simple and robust against the disturbance caused by glasses, eyebrow and hair. The process of training and learning is not necessary because of the appropriate priori knowledge. Our experiment on three face databases shows that our method can be applied to real time eye position localization and even to pupil localization under most circumstances, achieving accurate results. ◮ SuA06-4 14:30–14:50 Detection of Pedestrian Crossing from Focus to Spread, pp.4897–4901 Wang, Caifeng Liao, Fucheng Univ. of Sci. & Tech. Univ. of Sci. & Tech. Beijing 209
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WCICA 2012 The 10 th World Congress
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