In this paper, the Kalman filter is used to predict image feature positionaround which an image-processing window is then established to diminish feature-searching area andto heighten the image-processing speed. Accor...In this paper, the Kalman filter is used to predict image feature positionaround which an image-processing window is then established to diminish feature-searching area andto heighten the image-processing speed. According to the fundamentals of image-based visual servoing(IBVS), the cerebellar model articulation controller (CMAC) neural network is inserted into thevisual servo control loop to implement the nonlinear mapping from the error signal in the imagespace to the control signal in the input space instead of the iterative adjustment and complicatedinverse solution of the image Jacobian. Simulation results show that the feature point can bepredicted efficiently using the Kalman filter and on-line supervised learning can be realized usingCMAC neural network; end-effector can track the target object very well.展开更多
In order to ensure that the off-line arm of a two-arm-wheel combined inspection robot can reliably grasp the line in case of autonomous obstacle crossing,a control method is proposed for line grasping based on hand-ey...In order to ensure that the off-line arm of a two-arm-wheel combined inspection robot can reliably grasp the line in case of autonomous obstacle crossing,a control method is proposed for line grasping based on hand-eye visual servo.On the basis of the transmission line's geometrical characteristics and the camera's imaging principle,a line recognition and extraction method based on structure constraint is designed.The line's intercept and inclination are defined in an imaging space to represent the robot's change of pose and a law governing the pose decoupling servo control is developed.Under the integrated consideration of the influence of light intensity and background change,noise(from the camera itself and electromagnetic field)as well as the robot's kinetic inertia on the robot's imaging quality in the course of motion and the grasping control precision,a servo controller for grasping the line of the robot's off-line arm is designed with the method of fuzzy control.An experiment is conducted on a 1:1 simulation line using an inspection robot and the robot is put into on-line operation on a real overhead transmission line,where the robot can grasp the line within 18 s in the case of autonomous obstacle-crossing.The robot's autonomous line-grasping function is realized without manual intervention and the robot can grasp the line in a precise,reliable and efficient manner,thus the need of actual operation can be satisfied.展开更多
Wyner-Ziv Video Coding （WZVC） is considered as a promising video coding scheme for Wireless Video Sensor Networks （WVSNs） due to its high compression efficiency and error resilience functionalities, as well as its...Wyner-Ziv Video Coding （WZVC） is considered as a promising video coding scheme for Wireless Video Sensor Networks （WVSNs） due to its high compression efficiency and error resilience functionalities, as well as its low encoding complex- ity. To achieve a good Rate-Distortion （R-D） per- formance, the current WZVC paradi^prls usually a- dopt an end-to-end rate control scheme in which the decoder repeatedly requests the additional deco- ding data from the encoder for decoding Wyner-Ziv frames. Therefore, the waiting time of the additional decoding data is especially long in multihop WVSNs. In this paper, we propose a novel pro- gressive in-network rate control scheme for WZVC. The proposed in-network puncturing-based rate control scheme transfers the partial channel codes puncturing task from the encoder to the relay nodes. Then, the decoder can request the addition- al decoding data from the relay nodes instead of the encoder, and the total waiting time for deco- ding Wyner-Ziv frames is reduced consequently. Simulation results validate the proposed rate con- trol scheme.展开更多
In this paper, we describe a new batch process monitoring method based on multilevel independent component analysis and principal component analysis (MLICA-PCA). Unlike the conventional multi-way principal component a...In this paper, we describe a new batch process monitoring method based on multilevel independent component analysis and principal component analysis (MLICA-PCA). Unlike the conventional multi-way principal component analysis (MPCA) method, MLICA-PCA provides a separated interpretation for multilevel batch process data. Batch process data are partitioned into two levels: the within-batch level and the between-batch level. In each level, the Gaussian and non-Gaussian components of process information can be separately extracted. I2, T2 and SPE statistics are individually built and monitored. The new method facilitates fault diagnosis. Since the two variation levels are decomposed, the variables responsible for faults in each level can be identified and interpreted more easily. A case study of the Dupont benchmark process showed that the proposed method was more efficient and interpretable in fault detection and diagnosis, compared to the alternative batch process monitoring method.展开更多
Shortest-path calculation on weighted graphs are an essential operation in computer networks. The performance of such algorithms has become a critical challenge in emerging software-defined networks(SDN),since SDN con...Shortest-path calculation on weighted graphs are an essential operation in computer networks. The performance of such algorithms has become a critical challenge in emerging software-defined networks(SDN),since SDN controllers need to centralizedly perform a shortest-path query for every flow,usually on large-scale network. Unfortunately,one of the challenges is that current algorithms will become incalculable as the network size increases. Therefore, inspired by the compression graph in the field of compute visualization,we propose an efficient shortest path algorithm by compressing the original big network graph into a small one, but the important graph properties used to calculate path is reserved. We implement a centralized version of our approach in SDN-enabled network,and the evaluations validate the improvement compared with the well-known algorithms.展开更多
Pneumatic driven system is widely used in industrial automation, mainly for relatively simple tasks with open-loop control. Because of the pneumatic system’s compressibility and few stop positions, it was considered ...Pneumatic driven system is widely used in industrial automation, mainly for relatively simple tasks with open-loop control. Because of the pneumatic system’s compressibility and few stop positions, it was considered hard to control in a precise motion control system. With the help of newly developed pneumatic servo control technology, using servo-pneumatic positioning controller now is just as easy as using electro-servo system. This article discusses Web-based servo-pneumatic manipulator control and object recognition and positioning. The authors built a three-degrees-of-freedom (3 DOF) pneumatic manipulator with a servo-pneumatic closed-loop control system and machine vision system in their lab. Web-based tele-operation was a basic ability in this experimental system. After installing a CCD camera, video capture card, and related software developed by the authors, the robot could recognize the user specified object through the Web page and find its position. The remote user could command the robot to move to the position and to grab the object. The critical issues of Web-based control are to integrate hybrid open-architecture mechatronic system through the Web and develop a software language environment characterized by the script. The authors’ experiment showed that pneumatic devices could serve as accurate position control and be controlled through the Web.展开更多
The dilemma of the quantization parameter (QP) being involved in both rate control and rate-distortion optimization (RDO) prevents using the traditional rate control scheme. Although some rate control schemes are prop...The dilemma of the quantization parameter (QP) being involved in both rate control and rate-distortion optimization (RDO) prevents using the traditional rate control scheme. Although some rate control schemes are proposed to circumvent the dilemma, the inaccurate prediction model and improper bit allocation deter H.264 application on low bandwidth channel. To resolve this issue, this paper proposes a novel rate control scheme by considering the macroblock (MB) encoding complexity variation and buffer variation and by exploiting the spatio-temporal correlation sufficiently well. Simulations showed that this scheme improves the perceptual quality of the pictures with similar or smaller PSNR deviations when compared to that of rate control in JVT-O016.展开更多
基金The National Natural Science Foundation of China (59990470).
文摘In this paper, the Kalman filter is used to predict image feature positionaround which an image-processing window is then established to diminish feature-searching area andto heighten the image-processing speed. According to the fundamentals of image-based visual servoing(IBVS), the cerebellar model articulation controller (CMAC) neural network is inserted into thevisual servo control loop to implement the nonlinear mapping from the error signal in the imagespace to the control signal in the input space instead of the iterative adjustment and complicatedinverse solution of the image Jacobian. Simulation results show that the feature point can bepredicted efficiently using the Kalman filter and on-line supervised learning can be realized usingCMAC neural network; end-effector can track the target object very well.
基金Project(2006AA04Z202)supported by the National High Technology Research and Development Program of ChinaProject(51105281)supported by the National Natural Science Foundation of China
文摘In order to ensure that the off-line arm of a two-arm-wheel combined inspection robot can reliably grasp the line in case of autonomous obstacle crossing,a control method is proposed for line grasping based on hand-eye visual servo.On the basis of the transmission line's geometrical characteristics and the camera's imaging principle,a line recognition and extraction method based on structure constraint is designed.The line's intercept and inclination are defined in an imaging space to represent the robot's change of pose and a law governing the pose decoupling servo control is developed.Under the integrated consideration of the influence of light intensity and background change,noise(from the camera itself and electromagnetic field)as well as the robot's kinetic inertia on the robot's imaging quality in the course of motion and the grasping control precision,a servo controller for grasping the line of the robot's off-line arm is designed with the method of fuzzy control.An experiment is conducted on a 1:1 simulation line using an inspection robot and the robot is put into on-line operation on a real overhead transmission line,where the robot can grasp the line within 18 s in the case of autonomous obstacle-crossing.The robot's autonomous line-grasping function is realized without manual intervention and the robot can grasp the line in a precise,reliable and efficient manner,thus the need of actual operation can be satisfied.
基金This paper was supported by the National Key Basic Re- search Program of China under Grant No. 2011 CB302701 the National Natural Science Foundation of China under Grants No. 60833009, No. 61133015+2 种基金 the China National Funds for Distinguished Young Scientists under Grant No. 60925010 the Funds for Creative Research Groups of China under Grant No. 61121001 the Program for Changjiang Scholars and Innovative Research Team in University under Grant No. IRT1049.
文摘Wyner-Ziv Video Coding （WZVC） is considered as a promising video coding scheme for Wireless Video Sensor Networks （WVSNs） due to its high compression efficiency and error resilience functionalities, as well as its low encoding complex- ity. To achieve a good Rate-Distortion （R-D） per- formance, the current WZVC paradi^prls usually a- dopt an end-to-end rate control scheme in which the decoder repeatedly requests the additional deco- ding data from the encoder for decoding Wyner-Ziv frames. Therefore, the waiting time of the additional decoding data is especially long in multihop WVSNs. In this paper, we propose a novel pro- gressive in-network rate control scheme for WZVC. The proposed in-network puncturing-based rate control scheme transfers the partial channel codes puncturing task from the encoder to the relay nodes. Then, the decoder can request the addition- al decoding data from the relay nodes instead of the encoder, and the total waiting time for deco- ding Wyner-Ziv frames is reduced consequently. Simulation results validate the proposed rate con- trol scheme.
基金Project (No. 60774067) supported by the National Natural ScienceFoundation of China
文摘In this paper, we describe a new batch process monitoring method based on multilevel independent component analysis and principal component analysis (MLICA-PCA). Unlike the conventional multi-way principal component analysis (MPCA) method, MLICA-PCA provides a separated interpretation for multilevel batch process data. Batch process data are partitioned into two levels: the within-batch level and the between-batch level. In each level, the Gaussian and non-Gaussian components of process information can be separately extracted. I2, T2 and SPE statistics are individually built and monitored. The new method facilitates fault diagnosis. Since the two variation levels are decomposed, the variables responsible for faults in each level can be identified and interpreted more easily. A case study of the Dupont benchmark process showed that the proposed method was more efficient and interpretable in fault detection and diagnosis, compared to the alternative batch process monitoring method.
基金supported by the National Natural Science Foundation of China(No.61521003)
文摘Shortest-path calculation on weighted graphs are an essential operation in computer networks. The performance of such algorithms has become a critical challenge in emerging software-defined networks(SDN),since SDN controllers need to centralizedly perform a shortest-path query for every flow,usually on large-scale network. Unfortunately,one of the challenges is that current algorithms will become incalculable as the network size increases. Therefore, inspired by the compression graph in the field of compute visualization,we propose an efficient shortest path algorithm by compressing the original big network graph into a small one, but the important graph properties used to calculate path is reserved. We implement a centralized version of our approach in SDN-enabled network,and the evaluations validate the improvement compared with the well-known algorithms.
基金Project (No. ZD0107) supported by Natural Science Foundation of Zhejiang Province, China
文摘Pneumatic driven system is widely used in industrial automation, mainly for relatively simple tasks with open-loop control. Because of the pneumatic system’s compressibility and few stop positions, it was considered hard to control in a precise motion control system. With the help of newly developed pneumatic servo control technology, using servo-pneumatic positioning controller now is just as easy as using electro-servo system. This article discusses Web-based servo-pneumatic manipulator control and object recognition and positioning. The authors built a three-degrees-of-freedom (3 DOF) pneumatic manipulator with a servo-pneumatic closed-loop control system and machine vision system in their lab. Web-based tele-operation was a basic ability in this experimental system. After installing a CCD camera, video capture card, and related software developed by the authors, the robot could recognize the user specified object through the Web page and find its position. The remote user could command the robot to move to the position and to grab the object. The critical issues of Web-based control are to integrate hybrid open-architecture mechatronic system through the Web and develop a software language environment characterized by the script. The authors’ experiment showed that pneumatic devices could serve as accurate position control and be controlled through the Web.
文摘The dilemma of the quantization parameter (QP) being involved in both rate control and rate-distortion optimization (RDO) prevents using the traditional rate control scheme. Although some rate control schemes are proposed to circumvent the dilemma, the inaccurate prediction model and improper bit allocation deter H.264 application on low bandwidth channel. To resolve this issue, this paper proposes a novel rate control scheme by considering the macroblock (MB) encoding complexity variation and buffer variation and by exploiting the spatio-temporal correlation sufficiently well. Simulations showed that this scheme improves the perceptual quality of the pictures with similar or smaller PSNR deviations when compared to that of rate control in JVT-O016.
