Development of brake system of railway vehicles for real-time HILS
Author(s):
Min-Soo Kim;
Joon-Hyuk Park;
Byeong-Choon Goo
Show Abstract
Brake system of railway vehicles has a crucial role for the safety as well as riding quality of passengers. Its core
technology for successful development of the brake system is to design of ECU (Electric Control Unit) containing antiskid
control, brake blending control, load compensating control, and so on. Each development procedure of ECU
involves a verifying test for each step and is completed by an evaluation test of the comprehensive performance
verification for the overall systems. The development tool which is applied to this objective is the HILS (Hardware-In-the-
Loop-Simulation). In order to design a controller, a good representative model of the system is needed. This paper
describes the dynamic modeling of brake system of railway vehicle for HILS and analyzes some dynamic behavior under
emergency braking force.
Active steering control of railway vehicles using linear quadratic Gaussian (LQG)
Author(s):
Min-Soo Kim;
Yeun-Sub Byun;
Joon-Hyuk Park;
Won-Hee You
Show Abstract
In urban transit systems, railway vehicles are often required to negotiate tight curves. During curve negotiation, the
wheelsets of conventional vehicles generally misalign radically with the track increasing wheel/rail contact forces and
resulting in increased wheel and rail wear, outbreak of squeal noise, fuel consumption, and risk of derailment. This paper
presents active steering controller design in the railway systems using Linear Quadratic Gaussian. Simulation results
have been shown that the proposed LQG method methodology robustly yields uniform performance with adequate
response over the axle weight and wheel conicity variation range.
Passivity base control for a magnetically levitated flexible beam with rate estimation via the extended Kalman filtering technique
Author(s):
Toshimi Shimizu;
Minoru Sasaki;
Tokuji Okada
Show Abstract
This paper presents a passivity based control combined with velocity estimation by the extended Kalman filter for a
magnetically levitated flexible beam with both ends free. Passivity analyses result in that the system can be decomposed
into two passive subsystems: a mechanical subsystem that consists of the flexible beam with both ends free and an
electrical subsystem that is comprised of electromagnets. An output feedback controller combined with velocity
estimation by the extended Kalman filter for the mechanical subsystem computes desired force required to achieve
position convergence and vibration suppression of the flexible beam. In a practical point of view, economic
considerations restrict accurate measurements of both position and velocity of the supporting object while the control
strategy requires accurate measurements of them. Thus, we employ the extended Kalman filtering technique in order to
reject noise in the velocity signals at high sampling frequencies and/or micro-displacement vibrations. A feed forward
controller that generates the desired force is designed for the electrical subsystem. Effectiveness of the proposed
controller and velocity estimator is demonstrated by a numerical simulation.
Design of robust level control system of nuclear steam generator
Author(s):
Y. J. Lee;
M. G. Na
Show Abstract
The nuclear steam generator feedwater control system is designed by the robust control methods. The design is divided
into two steps. First, the feedwater controller in the feedwater station is designed by H∞ and MWS methods. Then the
controller located on the feedback loop is designed both by classical PID and by robust technique. It is found that the
feedback controller of simple PID whose coefficients vary with the power is proper for the system performance. The
simulations show that the hybrid system of H∞ and PID has a good performance with proper stability margins.
A microcontroller-based sensorless brushless DC (BLDC) motor drive for areomodelling
Author(s):
Long-han Cao;
Tao Liu;
Rui Li;
Fan Wu
Show Abstract
A novel approach to back-EMF detection of sensorless brushless DC motor drive systems was proposed. Theoretical
analysis of back-EMF sensing is presented, and indicates the back-EMF signal can be extracted for each floating phase
whether the PWM is on or off time. As a result, the proposed method rejects the high frequency switching noise and no
filtering. Moreover, it provides a highly accurate zero crossing point. This proposed sensing scheme is implemented into
a microcontroller for a sensorless BLDC motor. The microcontroller has been successfully applied to the aeromodelling
motor. The applied results verify the theoretical analysis and demonstrate that the microcontroller provide a good motor
performance.
Research on fuzzy PID control to electronic speed regulator
Author(s):
Xiao-gang Xu;
Xue-hui Chen;
Sheng-guo Zheng
Show Abstract
As an important part of diesel engine, the speed regulator plays an important role in stabilizing speed and improving
engine's performance. Because there are so many model parameters of diesel-engine considered in traditional PID
control and these parameters present non-linear characteristic.The method to adjust engine speed using traditional PID
is not considered as a best way. Especially for the diesel-engine generator set. In this paper, the Fuzzy PID control
strategy is proposed. Some problems about its utilization in electronic speed regulator are discussed. A mathematical
model of electric control system for diesel-engine generator set is established and the way of the PID parameters in the
model to affect the function of system is analyzed. And then it is proposed the differential coefficient must be applied in
control design for reducing dynamic deviation of system and adjusting time. Based on the control theory, a study
combined control with PID calculation together for turning fuzzy PID parameter is implemented. And also a simulation
experiment about electronic speed regulator system was conducted using Matlab/Simulink and the Fuzzy-Toolbox.
Compared with the traditional PID Algorithm, the simulated results presented obvious improvements in the
instantaneous speed governing rate and steady state speed governing rate of diesel-engine generator set when the fuzzy
logic control strategy used.
Bilateral teleoperation control with varying time delay using optimal passive scheme
Author(s):
Changlei Zhang;
Sung Goo Yoo;
Kil To Chong
Show Abstract
This paper presents a passive control scheme for a force reflecting bilateral teleoperation system via the Internet. To
improve the stability and performance of the system, the host and client must be coupled dynamically via the network
and Internet technology provides a convenient way to develop an integrated teleoperation system. However, as use of
Internet increases, congestion situation of network increased and transmission time and packet loss increased accordingly.
This can make system unstable at remote control. In this paper, we present an optimal passive control scheme for a force
reflecting bilateral teleoperation system via the Internet and we investigated how a varying time delay affects the
stability of a teleoperation system. A new approach based on an optimal passive control scheme was designed for the
system. The simulation results and the tracking performance of the implemented system are presented in this paper.
An adaptive robust tracking control for robot manipulator
Author(s):
Yaonan Wang;
Jinzhu Peng
Show Abstract
In this paper, the problem of an adaptive tracking robust control for robot manipulator is studied. The proposed controller
always guarantees closed-loop stability, and the stability of the proposed controller is proven by Lyapunov method. The
proposed controller can easily be implemented, and the tracking error and adaptation parameter error are uniformly
ultimately bounded. Finally, a simulation illustrates the performance of the scheme.
Robust critical control of uncertain systems using disturbance observers
Author(s):
Takahiko Ono
Show Abstract
This paper considers robust critical control of uncertain systems which require that tracking errors and control inputs are
strictly maintained within pre-specified constant bounds. To achieve such critical control in the presence of unknown
external disturbances, measurement noises and parameter variations of plants, the disturbance observer-based control is
applied. A controller is designed as a 2-degree-of-freedom controller which consists of a servo compensator and a
disturbance observer. Through a numerical example of servo control system design of the actively-controlled bed for
ambulances, it is shown that, even if a measurement noise is fairly small relative to an output, it gives much influence on
achievement of the critical control and so it is important to consider an effect of the noise in design explicitly.
Atmospheric plasma generation for LCD panel cleaning
Author(s):
Gyu-Sik Kim;
Chung-Yuen Won;
Ju-Yeop Choi;
C. H. Yim
Show Abstract
UV lamp systems have been used for cleaning of display panels of TFT LCD or Plasma Display Panel (PDP). However,
the needs for high efficient cleaning and low cost made high voltage plasma cleaning techniques to be developed and to
be improved. Dielectric-barrier discharges (DBDs), also referred to as barrier discharges or silent discharges have for a
long time been exclusively related to ozone generation. In this paper, a 6kW high voltage plasma power supply system
was developed for LCD cleaning. The -phase input voltage is rectified and then inverter system is used to make a high
frequency pulse train, which is rectified after passing through a high-power transformer. Finally, bi-directional high
voltage pulse switching circuits are used to generate the high voltage plasma. Some experimental results showed the
usefulness of atmospheric plasma for LCD panel cleaning.
A design method for unknown input observer for non-minimum phase systems
Author(s):
Kou Yamada;
Masahiko Kobayashi
Show Abstract
In this paper, we examine a design method for unknown input observers for non-minimum phase systems. The unknown
input observer has been used to estimate the state variable of the plant in the presence of unknown input. In addition the
unknown input observer is applied to the systems with disturbance inputs or unknown varying parameters. Initially, the
unknown input observer is examined by Kudva, Viswanadham and Ramakrishna. According to past studies, the unknown
input observer for the plant (A,B,C,0) can be designed if and only if following 2 expressions hold true: (1) rankCB= rankB and (2) the plant (A,B,C,0) has no invariant zero in the closed right half plane. Many papers have
been considered to design unknown input observers, even if above mentioned 2 expressions are not satisfied. In this
paper, we propose a new design method of unknown input observers for non-minimum phase plants.
A design method for robust stabilizing simple repetitive control systems
Author(s):
Kou Yamada;
Hiroshi Takenaga;
Hiroshi Tanaka
Show Abstract
The modified repetitive control system is a type of servomechanism for the periodic reference input. That is, the modified
repetitive control system follows the periodic reference input with small steady state error, even if a periodic disturbance
or uncertainty exists in the plant. Using previously proposed modified repetitive controllers, even if the plants does not
includes time-delay, the transfer function from the periodic reference input to the output and that from the disturbance to
the output have an infinite number of poles. When the transfer function from the periodic reference input to the output
and that from the disturbance to the output have an infinite number of poles, it is difficult to specify the input-output
characteristic and the disturbance attenuation characteristic. From the practical point of view, it is desirable that the input-output
characteristic and the disturbance attenuation characteristic are easily specified. In order to specify the input-output
characteristic and the disturbance attenuation characteristic easily, the transfer function from the periodic
reference input to the output and that from the disturbance to the output are desirable to have a finite number of poles.
Yamada et al. proposed the concept of simple repetitive control systems such that the controller works as a modified
repetitive controller and the transfer function from the periodic reference input to the output and that from the disturbance
to the output have a finite number of poles. In addition, Yamada et al. clarified the parametrization of all stabilizing
simple repetitive controllers. However the method by Yamada et al. cannot be applied for the plant with uncertainty. The
purpose of this paper is to propose the parametrization of all robust stabilizing simple repetitive controllers for the plant
with uncertainty.
Sliding mode control using neural network for IPM machine
Author(s):
Min Chan Kim;
Jae Hoon Kim;
Seung Kyu Park;
Tae Sung Yoon
Show Abstract
In this paper, a novel sliding mode controller is proposed by using neural network for IPM machine. The current control for
interior permanent magnet machines is more complicate than surface permanent magnet machine because of its torque
characteristic depending on the reluctance. For high performance torque control, it requires state decoupling between the dcurrent
and q-current dynamics. However the variation of the inductances, which couples the state dynamics of the currents,
makes the state decoupling difficult. This paper presents a novel approach for fully decoupling the states cross-coupling
using sliding mode control with neural network. The sliding mode control method is based on the error between reference
currents and the currents with state decoupling which have to follow the references. In the conventional sliding mode
control, the dynamic of sliding surface is not as same as nominal dynamic of original system. To overcome this problem,
this paper proposes a new design method of a sliding surface without defining any additional dynamic state by using neural
network. Finally, the proposed sliding surface can have the dynamics of nominal system controlled by PI controller.
A novel state feedback control based on SVR
Author(s):
FaGuang Wang;
Seung Kyu Park;
Min Chan Kim;
Gun Pyong Kwak
Show Abstract
The SVM is one of the methods which can introduce the statistical learning theory for solving the pattern recognition
problem with small samples and learning problems such as function estimation. The relationships between the states with
desirable responses can be expressed by some functions and these functions are estimated by using SVM. There are
classification problems and regression problems in support vector machines. Only the support vector regression problem is
used in this paper. This paper proposes a very novel method which makes it possible that state feedback controller can be
designed for unknown dynamic system with measurable states. The SVR algorithm is used for the identification of inputoutput
relationship. A virtual state space representation is derived from the relationship and the SVM makes the relationship
between actual states and virtual states. For unknown dynamic systems, a state feedback controller can be designed based
on the virtual system and the SVM makes the controller being with actual states. The results of this paper can give many
opportunities that the state feedback control can be applied for unknown dynamic systems. The first step of this design
method is to identify the input-output relationship of the unknown system as a transfer function by using SVR. Next step is
to design a virtual system based on the transfer function. Final step is to derive the relationship between the actual states and
virtual states by using SVM. The linear kernel function is used in SVR. A state feedback controller is designed based on the
virtual system and the virtual system can be replaced by actual states by using the above relationship and it gives the actual
states feedback controller. And simulation results are provided to show the performance of the proposed control method.
Finally, the results of this paper make it is possible to the state feedback control theory to be used for unknown dynamic
systems. This result can be expected to be applied to unknown nonlinear systems.
Integrated local path planning method
Author(s):
HwangRyol Ryu;
KiSung You;
ChinTae Choi
Show Abstract
We describe an integrated local path planning method whereby a particle filter is used for computation of the steering
direction based on the Vector Field Histogram. In the original VFH, a typical polar histogram contains peaks (i.e.,
sectors) with a high polar obstacle density (POD) and valleys (i.e., sectors) that contain low polar obstacle density. In
order to determine a desired path allowable for the width of the vehicle, the valley below some threshold is selected for
the traversable local path. In the proposed approach, the particle filter is used to select the widest valley without the predefined
threshold over the polar histogram and the measurement model of the particle filter is used for the uncertainty of
each cell in the VFH as well. Experimental results from a mobile robot traversing the obstacle courses demonstrate the
proposed approach successfully selecting and driving the most traversable path.
Control of IPMSM drive system for drum washing machine
Author(s):
Woncheol Lee;
Sang-Hoon Park;
Jung-Hyo Lee;
Jae-Sung Yu;
Gyu-Sik Kim;
Chung-Yuen Won
Show Abstract
The use of the interior permanent magnet synchronous motor (IPMSM) has increased in the industrial field because of
its excellent characteristics such as high efficiency, wide range of speed operation, and flexibility of the rotor structure.
Therefore, IPMSM, especially one using the rare earth permanent magnet, is being actively studied. In IPMSM using the
rare earth permanent magnet, typically the permanent magnet is deeply embedded in the rotor. The washing machine has
large load variation and needs high torque. So, IPMSM is better than any other motor types for washing machines. This
paper suggests a control algorithm of IPMSM for washing machines. Some experimental results are given in order to
show the feasibility of the proposed control schemes for washing machines.
Parameters optimization for the energy management system of hybrid electric vehicle
Author(s):
Chyuan-Yow Tseng;
Yi-Hsuan Hung;
Chien-Hsiung Tsai;
Yu-Jen Huang
Show Abstract
Hybrid electric vehicle (HEV) has been widely studied recently due to its high potential in reduction of fuel consumption,
exhaust emission, and lower noise. Because of comprised of two power sources, the HEV requires an energy
management system (EMS) to distribute optimally the power sources for various driving conditions. The ITRI in Taiwan
has developed a HEV consisted of a 2.2L internal combustion engine (ICE), a 18KW motor/generator (M/G), a 288V
battery pack, and a continuous variable transmission (CVT). The task of the present study is to design an energy
management strategy of the EMS for the HEV. Due to the nonlinear nature and the fact of unknown system model of the
system, a kind of simplex method based energy management strategy is proposed for the HEV system. The simplex
method is a kind of optimization strategy which is generally used to find out the optimal parameters for un-modeled
systems. The way to apply the simplex method for the design of the EMS is presented. The feasibility of the proposed
method was verified by perform numerical simulation on the FTP75 drive cycles.
Simulation model for a seven-phase BLDCM drive system
Author(s):
Sang-Hoon Park;
Won-Cheol Lee;
Jung-Hyo Lee;
Jae-Sung Yu;
Gyu-Sik Kim;
Chung-Yuen Won
Show Abstract
BLDC motors have many advantages over brushed DC motors and induction motors. So, BLDC motors extend their
application to many industrial fields. In this paper, the digital simulation and modeling of a 7-phase brushless DC motor
have been presented. The 14-switch inverter and a 7-phase brushless DC motor drive system are simulated using
hysteresis current controller and logic of switching pattern with the Boolean¡s function. Through some simulations, we
found that our modeling and analysis of a 7-phase BLDCM with PWM inverter would be helpful for the further studies
of the multi-phase BLDCM drive systems.
Down-down to down-up control of a circular-rail double inverted pendulum with human simulated intelligent control
Author(s):
Yuanhong Dan;
Zushu Li;
Zhi Tan
Show Abstract
20 years has passed since the prototype algorithm of Human Simulated Intelligent Control (HSIC) was brought out in
1979. A basic HSIC theory system and the systematical design method have formed, and successfully applied in many
fields, especially in the nonlinear control of a Double Pendulum System. A Multi-Pendulum System (MPS) is a typical
nonlinear, multi-variable, strong-coupled and under-actuated, complex system. The study on a MPS has been a hotspot in
the field of automation control. The successful application of HSIC in swing-up and handstand control on a DPS
adequately testified the validity of HSIC theory. This paper will focus on two topics: (1) structural design of controller
for swinging up a circular-rail double pendulum (CDP) form its down-down equilibrium position to down-up
equilibrium position (DD2DU); (2) real-time adjustment of controller parameters.
Controller design for Maglev vehicle system with vehicle-guideway interaction
Author(s):
Choon-Kyung Kim;
Hong-Ju Kim;
Soonman Kwon
Show Abstract
An electromagnetic levitation controller design considering vehicle-guideway interaction is presented. Even though to
design a Maglev controller to make a vehicle steady suspension under guideway deflection is a key technology in
Maglev vehicle system, the vehicle-guideway interaction effects haven't well explored and yet settled.
The vehicle is approximated to a single moving reaction force and the primary and secondary suspension dynamics are
applied to the model. The Bernoulli-Euler beam equation is used to model the dynamic deflection of guideway, which
acts as a disturbance to the Maglev control system. Based on the model, a PID controller and a state feedback controller
with a state observer are proposed. The feasibility of the controller is verified through the Simulink simulation.
Sliding mode control with disturbance estimator for Maglev vehicle
Author(s):
Hong-Ju Kim;
Choon-Kyung Kim;
Soonman Kwon
Show Abstract
Sliding mode control with disturbance estimator scheme is proposed for the control of a maglev vehicle. The
conventional sliding mode control requires a priori knowledge of the upper bounds of parameter variations and
disturbances to assure robustness, but it is hard to know the upper bounds of guideway disturbances like guideway
irregularity and guideway deflection in a maglev vehicle. A sliding mode control with disturbance estimator, which
offers a robust control performance without a priori knowledge about the disturbances, is derived to maintain the desired
robustness and minimize the effect of guideway disturbances. Simulation results of the proposed controller are given to
illustrate the effectiveness of the proposed scheme.
The study on optimal operation of compound heat-pump system
Author(s):
Kwan-Woo Shin;
Ilhyun Kim;
Yong-Tae Kim
Show Abstract
Heat-pump system has a special feature that provides heating operation in winter season and cooling operation in
summer season with a single system. It also has a merit that absorbs and makes use of wastewater heat, terrestrial heat,
and heat energy from the air. Because heat-pump system uses midnight electric power, it decreases power peak load and
is very economical as a result.
By using the property that energy source is converted to low temperature when losing the heat, high temperature energy
source is used to provide heating water and low temperature energy source is used to provide cooling water
simultaneously in summer season.
This study made up a heat-pump system with 4 air heat sources and a water heat source and implemented the optimal
operation algorithm that works with numbers of heat pumps to operate them efficiently. With the heat-pump system, we
applied it to cooling and heating operation in summer season and in winter season operation mode in a real building.
Thrust and normal force characteristics analysis of linear synchronous motor for direct drive conveyer
Author(s):
Yu-wu Zhu;
Do-sun Kim;
Yun-hyun Cho
Show Abstract
The problem in improving the high positioning precision of permanent magnet linear synchronous motor (PMLSM) for
direct drive conveyer is the large detent force, which contains two components: one is the cogging force caused by the
interaction between the permanent magnet (PM) and the iron core, the other is the end effect caused by the finite mover
length. In this paper a force compensator in the field oriented control (FOC) algorithm is employed to reduce this detent
force, so the thrust and the normal force characteristics analysis of PMLSM are of the most importance. First the
characteristics of the thrust and the normal force are simulated by finite element method (FEM), and the relation of the
thrust and the normal force to the q-axis current is analyzed. Then the components of detent force are defined by Fourier
series using the curve fitting method, and compensated by injecting the instantaneous currents using the FOC method.
Finally the dynamic characteristics of this PMLSM for direct drive conveyer are investigated, and the numerical results
are reported to validate the effectiveness of this proposed method.
A novel energy estimation method in wireless sensor networks
Author(s):
Yan-qiu Yang;
Jian-yong Li;
Jin-rong Zhong;
Chang-xiu Cao
Show Abstract
In recent years, wireless sensor networks (WSN) have attracted a great deal of attention in the research community. This
is due to the applications that will be enabled once wireless sensor networks are in place. Wireless sensor networks are
emerging as a promising solution for various types of futuristic applications both for military and public. Security in
wireless sensor networks is very crucial as these networks are expected mainly to operate in the hazardous and hostile
environments. Efficient key management could guarantee authenticity and confidentiality of the data exchanged among
the nodes in the network. Depending on the application requirements, the WSN may operate in star topology, in which
the communication is established between sensors (i.e. nodes or devices) and a single central controller, called the WSN
coordinator. In order to make the power consumed as efficiently as possible, a typical WSN architecture is first
described and then energy strategies and model are specified on account of the hardware constraints of the sensors in the
paper. Furthermore, energy estimating method is formulated and deduced. At last, computer simulation based on the
above architecture and model gives the analysis illustrations and the results. Experiments and simulation show how
energy savings of 50% can be achieved and can delay the deadline of the WSN system. This energy model can also be
used for power management in any system characterized by different levels of power consumption in various stages of
shutdown.
Design of generalized disturbance cancellation controllers via singular LTR
Author(s):
Tadashi Ishihara;
Hai-Jiao Guo
Show Abstract
The authors proposed the singular LTR method for the integral controller design based on the step disturbance
cancellation. In this paper, the singular LTR method is extended to more general class of disturbances. It is assumed that
the disturbance is modeled as an output of a linear function generator. By the separation principle, the optimal
disturbance cancellation controller is constructed using an observer estimating the plant state and the disturbance state. It
is shown that the partial LTR method can be used for the efficient design of the disturbance cancellation controller.
Hybrid Kalman/H∞ filter in designing optimal navigation of vehicle in PRT System
Author(s):
Hyunsoo Kim;
Hoang Hieu Nguyen;
Phi Long Nguyen;
Han Sil Kim;
Young Hwan Jang;
Myungseon Ryu;
Changho Choi
Show Abstract
PRT( Personal Rapid Transit ) system is a automated operation, so that it is important exactly finding position of vehicle.
Many of PRT system has accepted the GPS system for a position, speed, and direction. in this paper, we propose a
combination of Kalman Filter and H∞ Filter known as Hybrid Kalman/ H∞ Filter for applying to GPS navigation algorithm. For disturbance cancellation, Kalman Filter is optimal but it requires the statistical information about process
and measurement noises while H∞ Filter only minimizes the "worst-case" error and requires that the noises are bounded. The new Hybrid Filter is expected to reduce the worst-case error and exploit the incomplete knowledge about noises to
provide a better estimation. The experiment shows us the ability of Hybrid Filter in GPS navigation algorithm.
Simulation of the cascade control system with forced commutation inverter
Author(s):
Yougen Zheng;
Lian Zhang
Show Abstract
The forced commutation makes that the trigger angle changes between
π and 3π/2 so that the inverter absorbs the
leading current of the power network. This improves the power factor of the whole system. This paper builds the eightpulse
generator model, the simulating model of the forced commutation inversion bridge, the model of the cascade
control system with forced commutation inverter eight-pulse commutation inversion circuit model, and proofs the
feasibility of the system. This paper also analyzes the voltage wave and the current wave everywhere of the main circuit
at different control angle, puts forward that the forced commutation brings some problems that must be noticed and the
setting problem of the relative system parameter.
BMI optimization by using parallel UNDX real-coded genetic algorithm with Beowulf cluster
Author(s):
Masaya Handa;
Michihiro Kawanishi;
Hiroshi Kanki
Show Abstract
This paper deals with the global optimization algorithm of the Bilinear Matrix Inequalities (BMIs) based on the
Unimodal Normal Distribution Crossover (UNDX) GA. First, analyzing the structure of the BMIs, the existence of the
typical difficult structures is confirmed. Then, in order to improve the performance of algorithm, based on results of the
problem structures analysis and consideration of BMIs characteristic properties, we proposed the algorithm using primary
search direction with relaxed Linear Matrix Inequality (LMI) convex estimation. Moreover, in these algorithms, we
propose two types of evaluation methods for GA individuals based on LMI calculation considering BMI characteristic
properties more. In addition, in order to reduce computational time, we proposed parallelization of RCGA algorithm,
Master-Worker paradigm with cluster computing technique.
A LabVIEW-based control system design for PWM converter
Author(s):
H. S. Ryu;
Y. S. Lim;
K. H. Yoon;
J. M. Lee;
Y. C. Kim;
J. H. Choi
Show Abstract
This paper presents a new technique of designing a control system for PWM converter based on the LabVIEW and an
advanced FPGA reconfigurable embedded control and acquisition equipment, Compact RIO (cRIO). Assuming that a
PWM controller is composed in the double loop structure and that the inner loop controller is given, a constructive
design system that is able to make data acquisition, modeling, controller design, simulation with PC, and hardware in the
loop simulation (HILS) is represented. In this approach, a key point is to obtain an equivalent linear model of the inner
loop system including nonlinear components by using the closed loop identification and to use it when the outer loop
controller is designed. Experimental results applied to a real PWM converter will be given as a demonstration.
Adaptive trajectory shaping for liquid container manipulation
Author(s):
Gi-Hong Kim;
Sungsoo Rhim;
Seung-kook Yun;
Sun-Ho Bum;
Sungchul Kang;
Soon-Geul Lee
Show Abstract
In the paper, a novel trajectory shaping scheme to improve the manipulation skill of the articulated manipulator
for the liquid container transportation is proposed. The paper investigated the transient free surface behavior of
liquid inside a cup during the horizontal transportation. Based on the observation of the free surface vibration of
the liquid, the adaptive command shaping filter is proposed for the generation of the transportation trajectory
to reduce the fluctuation magnitude without increasing the time required to travel the given transportation
distance. Simulation results verify the effectiveness of the proposed scheme. An experimental testbed of an
articulated manipulator with a simplified model of a liquid container is established. The proposed manipulation
approach is implemented in the experimental setup and the experimental results also verify the effectiveness of
the proposed scheme.
A fuzzy control system design based on double module structure
Author(s):
Zhiyuan Zhang;
Jie Zhang;
Yan Cheng
Show Abstract
In the high-precision servo system, not only request quickness but also response characteristics without overshoot, usually
request strong robot for position loop. The traditional control system design usually is finished under the linear condition
which neglects some factors. It makes the more differences between designed model and actual system, so the general PID
adjuster and the single basic fuzzy control are different to meet the need. The paper designs a complex fuzzy controller based
on double structure and variable coefficient, at the same time adopts Cooperative Processing module with fuzzy reasoning
function, which make the system fuzzy reasoning speed improved and realize the online reasoning. So the system capability
is improved, the experiment proved the system has the good capability.
Control system of the physical simulation for the HVDC transmission system
Author(s):
Zheng Liu;
Tongyuan Huang;
Wei Liu;
Bing Ai;
Daohuai Mou
Show Abstract
The intention of this paper is to present the control system of the physical simulation for the Three Gorges HVDC
transmission system. It covers all essential control functions which are involved in the continuously working power flow
control and power modulation including converter firing and pole current control. This system include two convert
stations, They design the fault arbitrator for the dual-controller system based on fault-tolerant technology and
figure-safety-comparing technology. The arbitrator can endure long working time with high reliability. Controller A and
B not only works independent, but also can controlled by the master controller from CAN bus. At the same time, because
the master controller is a industrial PC, we can easy adjust and enhance the functions. This characteristic is especially fit
the physical simulation system.
Networked simulation for the design of an integrated chassis control system
Author(s):
Jong-Bum Lee;
Jaecheon Lee;
Byeong-Ryul Park;
Gu-Min Jeong;
Hyun-Sik Ahn
Show Abstract
This paper presents a networked simulation for an integrated chassis control system of AFS (Active Front Steering) and
ITD (Intelligent Torque Distribution). Integration of each chassis control system is used to overcome the limit of
performance when each chassis controller is used individually. We show an integration method AFS and ITD under the
supervisory controller which determines the operation modes based on vehicle variables. The experimental set-up for the
networked simulation of the integrated chassis control consists of four microcontroller boards, a steering wheel sensor
and a data acquisition board where all the microcontrollers and a sensor are communicated using the CAN protocol. It is
shown by experimental results that the integrated control system can achieve better performance than simply combined
individual controllers in the sense of energy consumption.
Coherence enhancing technique in fiber laser and its application to sensor
Author(s):
Kyoo Nam Choi
Show Abstract
Sensitivity of fiber optic sensor is critical concern, in case of concealed application such as buried fiber-optic sensor,
because ground soil behaves as buffer to isolate from outside disturbance by intruder. Thus coherent intrusion sensor is
getting popularity where the sensitivity is primary concern, since the superior sensitivity comes from optical phase
relationship of two received light signal. The performance of coherent sensor depends on the coherent degree of light
source. Conventional laser light source is not sufficient for this application, thus enhancing technique to increase
coherence length is required to have stable sensor response. Fiber laser is the suitable candidate because emission spectra
can be adjusted to the wavelength where transmission loss through glass fiber medium is at its minimum. The
performance of erbium doped fiber laser with single optical feedback loops are compared with the one using selfinjection
locked DFB laser experimentally in Mach-Zehnder interferometer configuration. The response of coherent
fiber-optic sensor, in Mach-Zehnder interferometer configuration, using erbium doped fiber laser with single optical
feedback loops as a light source is attempted to the various stimulus, including pressure, open flame and vehicle passing,
for the purpose of evaluating sensor application. The possible application of this fiber laser with enhanced coherence is
in zone perimeter security within ~20km where buried fiber-optic sensor installation is necessary.
People tracking with multiple laser range sensors
Author(s):
Hiroshi Nishimura;
Masafumi Hashimoto;
Yosuke Matsui;
Kazuhiko Takahashi
Show Abstract
This paper presents a decentralized method for people tracking with multiple 2D laser range sensors (LRSs) allocated in
environments. Moving people which are detected from laser images with the LRSs are tracked based on Kalman filter, the
assignment algorithm and Covariance Intersection method. A rule based on track management system is embedded into the
tracking system in order to improve the tracking performance. The experimental results of people tracking validate this
proposed method.
Self-assembled mini-SPR for detecting the stability of the bio-membrane
Author(s):
Shangwu Tang;
Yunlong Wei
Show Abstract
Supported Bilayer Lipid Membrane (s-BLM) affords a great direction to study the lipid membrane. It becomes a key to
study the stability of s-BLM. The study is adopting a method with optics to detect data not electronics, because it can
avoid the disturbance which is brought by the electric charge. Based on the basic principles of SPR, we assembled a
mini-SPR equipment, and it has the accuracy fitting for our works. To adjust the angle of the polarizer and move the fiber,
we can make the spectrogram that membrane is coupled on the surface of the gold slice. Comparing to the reference
spectrogram, we can make a certain relationship between the light absorbed maximum and the quality of the
phospholipid molecules coupling on the surface. It can token the resident time with the time which the detected
spectrogram resumes to the reference one. And the resonance angle has a definite shift. We can assess the stability of
phospholipid BLM with the three references. The mini-SPR equipment can easily change the parts and the parameter
with the up-and-down equipment, the movement of the fiber and replacing the triangular prism plated the thin metal. So
we can explore and find the conditions of the stability of BLM effectively with it[1].
Improvement of a sensor unit for wrist blood pressure monitoring system
Author(s):
Sangjun Koo;
Jongwon Kwon;
Yongman Park;
Odgerel Ayuzenara;
Hiesik Kim
Show Abstract
A blood pressure sensor unit for ubiquitous healthcare monitoring was newly developed. The digital wrist band-type
blood pressure devices for home are popular already in the market. It is useful for checking blood pressure level at home
and control of hypertension. Especially, it is very essential home device to check the health condition of blood
circulation disease. Nowadays many product types are available. But the measurement of blood pressure is not accurate
enough compared with the mechanical type. It needs to be upgraded to assure the precise health data enough to use in the
hospital. The structure, feature and output signal of capacitor type pressure sensors are analyzed. An improved design of
capacitor sensor is suggested. It shows more precise health data after use on a wrist band type health unit. They can be
applied for remote u-health medical service.
Design of high speed camera based on CMOS technology
Author(s):
Sei-Hun Park;
Jun-Sick An;
Tae-Seok Oh;
Il-Hwan Kim
Show Abstract
The capacity of a high speed camera in taking high speed images has been evaluated using CMOS image sensors. There
are 2 types of image sensors, namely, CCD and CMOS sensors. CMOS sensor consumes less power than CCD sensor
and can take images more rapidly. High speed camera with built-in CMOS sensor is widely used in vehicle crash tests
and airbag controls, golf training aids, and in bullet direction measurement in the military. The High Speed Camera
System made in this study has the following components: CMOS image sensor that can take about 500 frames per
second at a resolution of 1280*1024; FPGA and DDR2 memory that control the image sensor and save images; Camera
Link Module that transmits saved data to PC; and RS-422 communication function that enables control of the camera
from a PC.
Automatic check method of vehicle digital dashboard based on wavelet-based multi-scale GVF snake
Author(s):
Hong-wei Zhang;
Jian-wei Zhang;
Jian Cao;
Wu-lin Wang;
Jin-feng Gong;
Xu Wang
Show Abstract
The high accuracy of the vehicle digital dashboard makes it difficult to check its error in real time. On taking the
advantage of is production condition, the digital image processing method can be used to check the dashboard's
precision automatically. The image edge detection method is the key of our dashboard check method. The snake model
has been extensively used today. The GVF snake model overcomes the traditional snake model's shortcoming, it has a
large capture range and is able to move into boundary concavities. But it still needs large amount of computation and is
easily to be disturbed by noise. The wavelet-based multi-scale GVF snake took the advantage of the wavelet transform
and GVF model. In the lower resolution, there were less wavelet coefficients and the GVF snake was easy to deform to
the contour without much computation and was less interfered by noise. In higher resolution, with taking advantage of
the initial position of the foregoing resolution, much more computation would be saved. Experiments show this method
can detect the position of the pointer automatically and exactly.
A hybrid intra prediction algorithm using the displacement vector for H.264/AVC
Author(s):
Chun-Kyu Park;
Chun-Su Park;
Sung-Jea Ko
Show Abstract
H.264/AVC is the newest video coding standard jointly developed by the ITU-T Video Coding Experts Group and the
ISO/ISE Moving Picture Expert Group. Compared to previous standards, aggressive compression techniques such as
intra prediction, adaptive block size motion compensation, and 4x4 block based prediction are employed in this standard.
As a result, this standard greatly outperforms other standards with significant bit-rate reduction. In this paper, we present
a new intra-prediction algorithm for the H.264/AVC standard. The proposed algorithm generates additional prediction
blocks by using previously reconstructed blocks in order to reduce the amount of bits for video representation.
Experimental results show that the proposed algorithm is superior to conventional methods in terms of compression ratio.
Wavelet packet-based insufficiency murmurs analysis method
Author(s):
Samjin Choi;
Zhongwei Jiang
Show Abstract
In this paper, the aortic and mitral insufficiency murmurs analysis method using the wavelet packet technique is
proposed for classifying the valvular heart defects. Considering the different frequency distributions between the normal
sound and insufficiency murmurs in frequency domain, we used two properties such as the relative wavelet energy and
the Shannon wavelet entropy which described the energy information and the entropy information at the selected
frequency band, respectively. Then, the signal to murmur ratio (SMR) measures which could mean the ratio between the
frequency bands for normal heart sounds and for aortic and mitral insufficiency murmurs allocated to 15.62-187.50 Hz
and 187.50-703.12 Hz respectively, were employed as a classification manner to identify insufficiency murmurs. The
proposed measures were validated by some case studies. The 194 heart sound signals with 48 normal and 146 abnormal
sound cases acquired from 6 healthy volunteers and 30 patients were tested. The normal sound signals recorded by
applying a self-produced wireless electric stethoscope system to subjects with no history of other heart complications
were used. Insufficiency murmurs were grouped into two valvular heart defects such as aortic insufficiency and mitral
insufficiency. These murmur subjects included no other coexistent valvular defects. As a result, the proposed
insufficiency murmurs detection method showed relatively very high classification efficiency. Therefore, the proposed
heart sound classification method based on the wavelet packet was validated for the classification of valvular heart
defects, especially insufficiency murmurs.
Modified watershed algorithm considering zero-crossing point of gradient
Author(s):
Dong-In Park;
Yun-Ho Ko;
Ji-Hong Lee;
Young-Woo Park
Show Abstract
In this paper, we propose a modified watershed algorithm considering zero-point of gradient to obtain a correct edge of a region. The conventional watershed algorithm decide priority considering gradient of a region to be extended. However if the grey levels of two neighboring seeds are quite different, the ridge line obtained by the conventional watershed algorithm is not coincided with the correct edge. It is probable that the point where gray level extreme value occurs will be estimated as an edge of two neighboring regions. Therefore more correct edge of a region can be obtained if the expansion of watershed algorithm is delayed where the extreme value occurs. The position where the gray level extreme value occurs corresponds to the position where the zero-crossing of gradient occurs. So we adjust the priority to postpone expansion at the zero-crossing point of gradient. We compare the proposed method with the conventional method and validate that this proposed method can extract more correct edge of a region.
Optimal exposure estimation in the image for structured light system
Author(s):
Moonwook Ryu;
Daesik Kim;
Sukhan Lee;
Jae-kyu Lee
Show Abstract
In this paper we propose a method of optimal camera exposure estimation in the image for a structured light system. In
structured light system, it is important to discriminate the patterns form the captured images which are illuminated by the
projector. But every object in real environments has a different reflection due to object's material and surface's color
property, so the precise discrimination of the projected pattern from the image in indoor environments is a hard problem
where many objects are located together especially. And the camera exposure setting is not good. For better 3D range
data, we estimate the optimal exposure at pixels so that makes the illuminated light by the projector can be captured
properly by the camera. In order to obtain the optimal exposures about specific environments in structured light system,
we should know how much intensity and/or brightness varies while the exposure is changed. So we introduce the novel
method to estimate intensity by characteristic curves. This proposed method overcomes the conventional method's
exposure problem and presents what is the optimal exposure at pixels is and how to obtain this setting. This has been
proved to be feasible in many applications which need to measure the objects with different surface properties.
An error concealment method for PD-based multiple description coding using H.264
Author(s):
Jie Jia;
Hae-Kwang Kim
Show Abstract
This paper presents a correlation model based error concealment method for Polyphase Downsampleing (PD)
applied multiple description coding (MDC) using H.264. With MDC, when one description is lost due to errors,
the lost description can be reconstructed from other descriptions correctly received. The PD based MDC provides
coded stream capability of reconstructing pixels in the lost description from neighboring pixels which are coded in
other descriptions. The proposed error concealment method explores correlation between pixel to be concealed
and its neighboring pixels, then applies correlation model based concealment method to reconstruct the lost
pixels. Simulation results show that the proposed method improves coded stream error resiliency performance
by an average 0.62 dB PSNR enhancement in comparison with an existing PD based MDC method.
Reconstruction of an HR image by simultaneous POCS and regularized block matching
Author(s):
Bum Gon Kim;
Hee Keun Song;
Tong Sok Kim;
Yong Cheol Kim
Show Abstract
In the reconstruction of high resolution (HR) images from low resolution (LR) image frames, the accuracy in the
inter-frame motion estimation is a critical factor. With a motivation that motion estimated over the reconstructed
HR frames would have higher accuracy, several attempts have been made to perform motion estimation and HR
reconstruction simultaneously. In this paper, we propose a HR reconstruction method, in which a regularized
block matching for motion estimation and POCS-based reconstruction are performed in turns. In experimental
results, regularized block matching produces reliable motion estimation since the motion of an image pixel is
highly correlated with the motion in neighboring region. The improved accuracy of the motion estimation results
in higher PSNR of the reconstructed HR images.
Registration correction in hybrid tracking for augmented reality
Author(s):
Xinyu Li;
Dongyi Chen
Show Abstract
One of the most important problems faced when building Augmented Reality (AR) systems is registration error. In
mobile and outdoor AR systems, dynamic errors are the largest source of registration errors. Hybrid tracking is a key
technique in combating the effects of dynamic errors. In this paper we present a multi-stage close-loop correction
algorithm for reducing dynamic registration errors in AR system. The control law in this algorithm is based on 2D
visual servoing or image-based camera control that allows control of a virtual camera to reduce registration error. The
experimental results illustrate the effectiveness of this algorithm.
An embedded intelligent monitoring system for rotating machiney vibrations
Author(s):
Li Wang;
Qingkai Han;
Mo Zhang;
Tianxia Zhang;
Bangchun Wen
Show Abstract
As required of multi-level and network based fault diagnosis system for large-scale rotating machinery, a new kind of
embedded intelligent local set is introduced in the paper for machine condition monitoring and fundamental diagnosis.
Its functions include high-speed acquisition of vibration signals, time-frequency analyses, ANN-based fault diagnosis
and remote communications. The experimental results show that it performs with higher efficiency with real time,
reliability and accuracy in data acquisition, vibration monitoring and typical fault diagnosis.
Research of signal denoising method on an improved wavelet threshold
Author(s):
Chengbo Yu;
Huafeng Qin;
Lian Zhang
Show Abstract
Based on the Multi-analysis wavelet threshold denosing method which is put forward by D. L. Dohono and I. M.
Johnstone, a new threshold function is posed. This new threshold function has many advantages over the classical soft
and hard threshold function. It is clear in physics meaning and simple in expression. The experimental results show that
this improved method is effective in removing white noise, and gives better RMSE performance and SNR gains than soft
and hard threshold methods, and makes it possible to embody the advantages of the wavelet threshold denoising method
more fully.
A watershed algorithm for image segmentation with B-spline function
Author(s):
Chengbo Yu;
Huafeng Qin;
Hongyan Tao
Show Abstract
With regard to the over-segmentation of traditional watershed algorithm and the problems of sensitivity to noise, a new
algorithm that can effectively restrain noise, eliminate image edges and detect the image edges exactly was presented.
Firstly, morphological gradient image edge was enhanced by high frequency emphasize filter effectively. Then, the
enhancement image is fit by B spline function many times. Finally, the watershed segmentation is used for the curved
face. Experimental results demonstrate that watershed segmentation with the proposed algorithm resolves the phenomena
of over-segmentation well. The scheme can detect the image edges exactly and improve segmentation precision.
Development of an endoscopic tactile sensor using PVDF films
Author(s):
Takeshi Okuyama;
Mikiko Sone;
Yoshikatsu Tanahashi;
Seiji Chonan;
Mami Tanaka
Show Abstract
In this work, a prototype Polyvinylidene Fluoride (PVDF) tactile sensor for endoscopic application has been developed.
The sensor aims to measure hardness, which is one of the information of tactile perceptions, of biomedical tissue. This
sensor is composed of two PVDF films, a silicone cylindrical column, and an aluminum cylinder. And the classification
of hardness is concerned with the ratio of these PVDF outputs. In this paper, two sensors are fabricated using two
silicone cylindrical columns with different Young's modulus. The performance evaluation of each sensor is conducted
using 6 silicone rubbers as measuring object. The experimental results correspond with the simplified theoretical analysis
and the proposed sensor can distinguish a difference of elastic property.
Development of a tactile sensor for evaluation of detergents
Author(s):
Daisuke Tsuchimi;
Mami Tanaka
Show Abstract
This paper is concerned with the development of a tactile sensor using PVDF (Polyvinylidene Fluoride) film
as a receptor of the sensor to evaluate a detergent. Tactile sense is the most important sense in the sensation
receptor of the human body along with eyesight. When the dish which washed cleanly is rubbed with a finger
of human, good tactile sense and sound (vibration signal) like "Kyu-kyu" are obtained. From this tactile sense
and sound, we judge that a dish becomes squeaky-clean. This tactile sense and sound are evaluation parameters
when consumer selects a detergent. In this study, a tactile sensor using PVDF film as the receptor is fabricated.
Sensory test of detergents was conducted. Measurement experiment by the sensor is carried out. Experiment
results show that sensor output have good correlation with the result of human sensory test of detergent.
2-DOF haptic device with DC motors and MR brakes
Author(s):
Jinung An;
Dong-Soo Kwon
Show Abstract
This paper presents the 2-DOF haptic device in which DC motors and MR brakes are equipped. To apply MR brakes to
the 2-DOF haptic device, its kinematic requirement is described by Jacobian analysis. Through the analysis, MR brakes
can be used to display the damping force in a multi-DOF haptic device when it has the orthogonal Jacobian such as
Cartesian manipulator. A five bar linkage type haptic device, which has the nonorthogonal Jacobian, is developed to
verify the theoretical effort. Experimental results show that the five bar linkage type can't display the 2 DOF virtual
environments due to its kinematic constraints, that is, nonorthogonal Jacobian.
A study on the optimum position and repeatability control of a pneumatic cylinder actuator using PLC and proximity sensors
Author(s):
Jung D. So;
Gun-hoi Kim;
Seung-hun Choi;
Kyoung-chul Kim
Show Abstract
This research developed a position control system of the pneumatic cylinder to minimize an error of displacement of the
pneumatic cylinder system and to increase the repeatability of displacement. The maximum air pressure of the position
control test was 5 kg/cm2 and the displacement accuracy of a stroke was measured by using a dial gauge. The supply-
and discharge-side of air pressure and the length of the stroke of the pneumatic cylinder were adjusted and set before
experiment. The test of the position control of the pneumatic cylinder was carried out 50 times at each supply- and
discharge-side air pressure of 2.5/3.5, 3.0/4.0, 3.5/4.5, and 4.0/5.0 kg/cm2 and replicated three times. The accuracy of the displacement of the pneumatic cylinder stroke increased as the supply- and discharge-side of air pressure increased with
the fixed stroke length of 133 mm. Also it increased as the stroke length increased with the fixed supply- and dischargeside
of air pressure of the pneumatic cylinder as 3.5/4.5 kg/cm2. The most accurate displacement of the pneumatic
cylinder (i.e., standard deviation of 0.01 mm) was obtained with the supply-and discharge-side of air pressure of 4.0/5.0
kg/cm2and the stroke length of 170 and 190 mm.
An experimental study on the development and application of ultra-high-accuracy and high-speed groove die set
Author(s):
Gun-hoi Kim;
Jung D. So;
Kyu-sik Kwon;
Jong-won Byun
Show Abstract
This research designed and developed a groove type die set which improved life span of the die set by eliminating pointcontacts
of steel balls with the guide post. The guide post consisted of a steel-ball retainer, a steel-ball retainer stopper, a
guide bush, a guide pin, a snap ring, and a spring. The steel-ball retainer has 72 holes with 8 columns of 9 holes in each
column. The inner surface of the guide bush was grinded (surface roughness: Ra = 0.2μm, accuracy: 0 ~ -0.002 mm)
after NC turning and it was treated with heat. Also, a line of small intermediate pocket was processed inside of the guide
bush for lubrication and elimination of foreign materials. Guide grooves for steel balls were processed using a wire EDM
(Electrical Discharge Machining) after the heat treatment. With such a design of the guide post stated above, loads
against steel balls could be dispersed greatly by the line contacts through the guide groove between the guide pin and the
guide bush, and the life span of the guide post could be expanded semi-permanently.
Humanoid by ROBO-BLOCK
Author(s):
Hirofumi Niimi;
Minoru Koike;
Seiichi Takeuchi;
Noriyoshi Douhara
Show Abstract
Humanoid by ROBO-BLOCK (robot block system) and the rational formula of robots were proposed. ROBO-BLOCK is
composed of servo motors, the parts for servomotor rotor, the brackets for servomotor fixation, the board parts and the
controllers. A robot can be assembled easily by ROBO-BLOCK. Meanwhile, it is convenient when the structure of the
robot can be described easily as a character. The whole structure of the robot is expressed as rational formula of the robot
to show molecule structure in chemistry. ROBO-BLOCK can be useful for not only the research but also the education.
Creative student experiment was done in the college of industrial technology.
Analysis of a simple gripping mechanism by using the virtual work method
Author(s):
H. Ando;
N. Muramatsu
Show Abstract
This paper discusses a structural analysis of a gripper with a simple gripping mechanism and clarifies deformation and
gripping efficiency of the gripper. This gripper is analyzed as a rigid frame which is built-in at both ends. This structure
is a statically indeterminate structure. To analyze such a structure, the virtual work method is used. Moreover, to obtain
an unknown gripping force, deformation of the gripped object replaced with load cells is considered. The effectiveness
of the constructed mathematical model is verified in a comparison with respect to gripping efficiency between a
simulation with the model and an experimental result.
An investigation on the hysteresis characteristics of an automotive air spring
Author(s):
H. Liu;
J. C. Lee
Show Abstract
Hysteresis is one of major properties of air spring during its compression and rebounding sequences. This study shows
hysteresis property of air spring theoretically and experimentally. At first, the theoretical model of the air spring was
developed, considering the factor of heat exchange. And then experiments of force responses with displacement
excitation signal of various frequencies were implemented. The simulations by using obtained model were performed to
compare with experimental results. The results show that simulation results are close to experiment in low excitation
frequency from 1 Hz to 0.1 Hz, but there exits some difference between them in very low excitation frequency (quasistatic
process).
Study on dynamics characteristics of gyroscopic power generator
Author(s):
Tomohiro Ishii;
Jun Iwasaki;
Hiroshi Hosaka
Show Abstract
In order to solve the energy supply problem for ubiquitous equipments, a gyroscopic power generator is proposed which
utilizes kinetic energy of human movement. In the generator, a rotor increases spinning velocity by the precession and
friction caused by input vibration. In this paper, first, an analytical method of the rotor movement is presented. Then the
output energy of the prototype generator is estimated by using the analysis.
Design of the ultraprecision stage for lithography using VCM
Author(s):
Jung-Han Kim;
Mun-Su Kim;
Min-Taek Oh
Show Abstract
This paper presents a new design of precision stage for the reticle in lithography process and a low hunting control
method for the stage. The stage has three axes for X,Y, θZ, those actuated by three voice coil motors individually. The proposed precision stage system has three gap sensors and voice coil motors, and supported by four air bearings, so it do
not have any mechanical contact and nonlinear effect such as hysterisis which usually degrade performance in nano level
movement. The reticle stage has cross coupled dynamics between X,Y,θZ, axes, so the forward and inverse kinematics
were solved to get an accurate reference position. When the stage is in regulating control mode, there always exist small
fluctuations (stage hunting) in the stage movement. Because the low stage hunting characteristic is very important in
recent lithography and nano-level applications, the proposed stage has a special regulating controller composed of digital
filter, adjustor and switching algorithm. Another importance factor that generates hunting noise is the system noise inside
the lithography machine such as EMI from another motor and solenoids. For reducing such system noises, the proposed
controller has a two-port transmission system that transfers torque command signal from the DSP board to the amplifier.
The low hunting control algorithm and two-port transmission system reduced hunting noise as 35nm(rms) when a
conventional PID generates 77nm(rms) in the same mechanical system. The experimental results showed that the reticle
system has 100nm linear accuracy and 1μ rad rotation accuracy at the control frequency of 8 kHz.
Prototyping of a motion base for a desktop interaction system consisting of a combination of a wheel drive and a parallel mechanism
Author(s):
Susumu Tarao;
Toshihiko Koiwa
Show Abstract
A new kind of motion base is proposed for the purpose of setting up a user-friendly interaction system on the
desktop. It aims at motion in various situations with a large range of movement using a simple mechanism,
and generating motions adequate for an interaction with a man and for computer application. In this paper, a
prototype of the motion base is developed. Its mechanism consists of a combination of a wheel drive locomotion
mechanism and a 3-degrees of freedom (DOF) parallel link mechanism in parallel. It is aimed at generating
3 DOF translational motion on the desktop with a simple mechanism as a whole and with a large range of
movement, especially in the horizontal direction. In consideration of application for man-computer interaction,
the prototype is controlled by a microprocessor, a microcontroller and FPGA. This paper presents a description
of the concept of the motion base for a desktop interaction system, the prototype mechanism, the control system
and the preliminary experiment which demonstrates typical translational motions.
Approximate analysis of self-excited vibration for flat-type wind generator
Author(s):
Satoru Yoshikawa;
Ikema Tanaka;
Tomoaki Kondo;
Terunao Hirota;
Hiroshi Hosaka
Show Abstract
Self-excited vibration of a film caused by air flow is analyzed to realize an electric power generator driven by fluid energy which exists in various artifacts. First, generation of the self-excited vibration is verified through experiments. Second, an approximate calculation method on the basis of the experimental results is contrived. Third, with the appropriate analysis, effect of the inlet air pressure, film tension, boundary pressure on the vibration frequency and easiness of vibration generation are clarified. Also the calculated results are compared with experimental ones to verify the validity of the analysis.
Electromagnetic levitation control system for a thin steel plate: optimal placement of permanent magnets for levitation assist using genetic algorithm
Author(s):
Tomoshi Saito;
Matrika Uprety;
Yasuo Oshinoya;
Kazuhisa Ishibashi;
Hirakazu Kasuya
Show Abstract
For thin steel plates, which are used in many industrial products including those of the automobile industry, we have
proposed a magnetic levitation control system and confirmed its realization by means of a digital control experiment.
However, the use of a limited number of electromagnets cannot suppress static deflection and high-order-mode elastic
vibration, which are characteristics of a flexible magnetic material. To solve this problem, we have proposed a hybrid
levitation control system for the thin steel plate using the magnetic force generated by permanent magnets, which have
no operational costs, in the areas where the attractive force of the electromagnets is negligible. In this study, we attempt
to determine the optimal placement of permanent magnets to reduce the deflection and elastic vibration of a thin steel
plate under the generated magnetic field. To verify the usefulness of optimal placement of the permanent magnets,
experiments concerning elastic vibration were performed on a magnetically levitated thin steel plate. As a result, it was
confirmed that the control performance was improved by the optimal placement of the permanent magnets.
Noncontact guide system for traveling elastic steel plates: vibration control performance for different guideway shapes
Author(s):
Hiroaki Kumagai;
Yasuo Oshinoya;
Kazuhisa Ishibashi;
Hirakazu Kasuya
Show Abstract
We have developed a noncontact guide system for a high-speed traveling elastic steel plate in which electromagnetic
forces are applied by actuators at the edges of the plate to control its position. Recently, we have been examining a
noncontact guide system, in which one of the loops of a belt-shaped thin steel plate is supported by a pulley, and another
loop is guided without contact using electromagnets. It was confirmed experimentally that the loop shape of the thin steel
plate changes with increasing traveling speed when no control is carried out. In this study, a basic examination of the
technique for forming a guideway using electromagnets, in which the change in the uncontrolled loop shape is
considered, was carried out. By comparing the results for guideways with several different shapes, the effect of the
guideway shape on the vibration suppression performance of the steel plate was discussed experimentally. As a result, it
was confirmed that the vibration suppression performance of the steel plate can be improved by adjusting the shape of
the noncontact guide system that uses electromagnets to conform with that of the loop of the uncontrolled steel plate.
Active seat suspension for a small vehicle: considerations for control system including observer
Author(s):
Hiroyuki Katsumata;
Hiroshi Shiino;
Yasuo Oshinoya;
Kazuhisa Ishibashi;
Koichi Ozaki;
Hirohiko Ogino
Show Abstract
We have examined the improvement of ride quality and the reduction of riding fatigue brought about by the active
control of the seat suspension of small vehicles such as one-seater electric automobiles. A small active seat suspension,
which is easy to install, was designed and manufactured for one-seater electric automobiles. For the actuator, a
maintenance-free voice coil motor used as a direct drive was adopted. For fundamental considerations, we designed a
one-degree-of-freedom model for the active seat suspension system. Then, we designed a disturbance cancellation
control system that includes the observer for a two-degree-of-freedom model. In an actual driving test, a test road, in
which the concavity and convexity of an actual road surface were simulated using hard rubber, was prepared and the
control performance of vertical vibrations of the seat surface during driving was examined. As a result, in comparison
with the one-degree-of-freedom control system, it was confirmed that the control performance was improved by the two-degree-of-freedom control system that includes the observer.
Application study on suppression of chatter vibration by modifying the weak component in a direct-drive gear cutting machine
Author(s):
Qiang Huang;
Genbao Zhang;
Xinyu Zhang;
Dongfeng Cao
Show Abstract
This paper exposes the complete procedure of suppressing the chatter and how to realize it on a direct-drive CNC hobber.
In a series of experiments, we discovered the phenomenon that vibration energy was centralized at a natural frequency of
the machine gradually during the chatter occurred. Based on the phenomenon and the theory of regenerative chatter, a
multi-degree of freedom model about the chatter of machine is built. According to this model, the way to identify chatter
frequency and weak component is proposed. Taking the bobber spindle system as an example, several key steps are
introduced: building optimization model of spindle, reducing the modified parameters based on sensitivity of anti-chatter
and the optimization algorithm. Optimal result of hob spindle system is provided finally.
Research of elliptical curved crystal spectrometer for measuring laser-produced plasma x-ray
Author(s):
Gang Zhu;
Xian-xin Zhong;
Xian-cai Xiong;
Wen-jie Feng
Show Abstract
A new space and time resolved focusing elliptical curved crystal spectrometer has been developed and applied to
diagnose X-ray of laser-produced plasma in 0. 2~2 nm region. According to the theory of Bragg diffraction, four kinds
of crystal including LiF, PET, KAP, and MiCa were choosed as dispersive elements.The distance of crystal lattice
varies from 0.4 to 2.6 nm. Bragg angle is in the range of 30°~67.5°, the spectral detection angle is in 55.4°~134°. The
dispersive crystal sizes are 120×8×0.2mm.The characteristic of optical system is an elliptical geometry.The X-ray
source is located at the front focal point.The X-rays diffracted by the elliptically curved crystal are focused at the rear
focal point where a width-adjustable exit slit is positioned.The Curved crystal spectrometer mainly consists of dispersive
elements, vacuum configuration, aligning device, spectral detectors and three dimensional (3D) micro-adjustment
devices. The spectrographic experiment was carried out on the XG-2 laser facility.The PET and KAP crystals are
adopted as the dispersive elements,which measure X-ray in the 0.44~0.81 and 1.33~2.46nm region. Emission
spectrum of Al plasmas and Ti plasmas have been successfully recorded by using X-ray CCD camera. It is demonstrated
experimentally that the measured wavelength is accorded with the theoretical value. At the same time, experimental
result shows that spectral resolution of PET and KAP crystals is 956 and 1123.
Multi-robot task allocation based on two dimensional artificial fish swarm algorithm
Author(s):
Taixiong Zheng;
Xueqin Li;
Liangyi Yang
Show Abstract
The problem of task allocation for multiple robots is to allocate more relative-tasks to less relative-robots so as to
minimize the processing time of these tasks. In order to get optimal multi-robot task allocation scheme, a twodimensional
artificial swarm algorithm based approach is proposed in this paper. In this approach, the normal artificial
fish is extended to be two dimension artificial fish. In the two dimension artificial fish, each vector of primary artificial
fish is extended to be an m-dimensional vector. Thus, each vector can express a group of tasks. By redefining the
distance between artificial fish and the center of artificial fish, the behavior of two dimension fish is designed and the
task allocation algorithm based on two dimension artificial swarm algorithm is put forward. At last, the proposed
algorithm is applied to the problem of multi-robot task allocation and comparer with GA and SA based algorithm is done.
Simulation and compare result shows the proposed algorithm is effective.
A novel approach to modeling and identifying the double loop DC motor driving system in soccer robots
Author(s):
Yonglong Li;
Zushu Li;
Jun Li;
Niu Wang
Show Abstract
Using double loop DC motor drive system (DLM) of the RoboCup middle size robots as research subject, the model of
DLM has been reduced to a simple state space one by the "quasi-equivalent" modeling method, based on the
characteristic analysis of the system. Further, the parameters of the model can be exactly identified applying the
improved genetic algorithm. The results of compared experiment proved that using this model and identification ways
can get a reasonably structural and high parameters precision model. The model can describe the DLM to design the
control system for robot soccer.
Design and implementation of exploring robot for hazardous environment
Author(s):
Sung Hun Kwak;
Gi Sang Choi;
Gi Heung Choi;
Jung Soo Kim
Show Abstract
In many cases exploring robots work under harsh conditions such as presence of various kinds of obstacles, high
temperature, and limited visibility, etc. So they are required to have tough mechanical structure, good sensing capability,
and reliable communication capability for receiving operator's command and for sending information on the state of the
robot and on environment to operator. In this study the methodology of implementing these capabilities on exploring
robot is explained, and actually an exploring robot that can investigate hazardous or disaster sites is designed and
implemented. Finally, the performance of the proposed exploring robot is tested under simulated disaster environment.
Feasibility study of using line tracer robot under disaster situation
Author(s):
Hyung Ki Kim;
Gi Sang Choi;
Gi Heung Choi
Show Abstract
Line tracer robots are widely accepted in various industry for the purpose of moving objects. In this study feasibility of
using line tracer robots under disaster situation is studied as the line tracing capability may be useful in case of disaster.
A small scale line tracer robot is designed, implemented, and tested under disaster situation. Specifically, the MCU based
robot hardware including sensor, encoder, motor, and power supply is designed and implemented. Also, the software for
receiving sensor signal, for driving motor and for implementing line searching algorithm is designed. The devised robot
detects the guide line using 6 infrared optical sensors and can adjust the direction of motion with the front steering servo
motor according to the sensor signal. In driving test, the robot showed reliable performance both on the straight and
curved paths having obstacles under limited visibility condition as in disaster situation.
Walking control of small size humanoid robot: Hajime Robot 18
Author(s):
Hajime Sakamoto;
Ryohei Nakatsu
Show Abstract
HAJIME ROBOT 18 is a fully autonomous biped robot. It has been developed for RoboCup which is a worldwide soccer
competition of robots. It is necessary for a robot to have high mobility to play soccer. High speed walking and all
directional walking are important to approach and to locate in front of a ball. HAJIME ROBOT achieved these walking.
This paper describes walking control of a small size humanoid robot 'HAJIME ROBOT 18' and shows the measurement
result of ZMP (Zero Moment Point). HAJIME ROBOT won the Robotics Society of Japan Award in RoboCup 2005 and
in RoboCup 2006 Japan Open.
Self-controlled moving robot
Author(s):
Song-Keun Lee;
Il-Ju Kim
Show Abstract
We made a self controlled moving robot (SCMR) which tracks the object using the images obtained from two cameras
which are installed on the front of the system. In order to reduce the effect of a color and a light we converted the true
color images to the gray color images. We can estimate the object movements by utilizing four images which are
obtained from two cameras of different times. The SCMR controls the motor to move by itself considering the result of
the image processing. In the image processing we used the image zone partition method. The image zone partition
method decides a direction that the object is moving. For fast calculation of the image processing and the motor control
we installed the personal computer (PC) on the SCMR.
Stereo vision with distance and gradient recognition
Author(s):
Soo-Hyun Kim;
Suk-Bum Kang;
Tae-Kyu Yang
Show Abstract
Robot vision technology is needed for the stable walking, object recognition and the movement to the target spot. By
some sensors which use infrared rays and ultrasonic, robot can overcome the urgent state or dangerous time. But stereo
vision of three dimensional space would make robot have powerful artificial intelligence. In this paper we consider about
the stereo vision for stable and correct movement of a biped robot. When a robot confront with an inclination plane or
steps, particular algorithms are needed to go on without failure. This study developed the recognition algorithm of
distance and gradient of environment by stereo matching process.
The design of service-adaptive engine for robot middleware
Author(s):
BumHyeon Baek;
YongSoon Choi;
Hong Seong Park
Show Abstract
In this paper, we propose a design of Service-Adaptive Engine for robot middleware. This middleware called the
KOMoR (Korea Object-oriented Middleware of Robot) is a middleware for robot that composed of three layers (Service
Layer, Network Adaptation Layer, Network Interface Layer). In particular, Service-Adaptive Engine in Service Layer is
responsible for communication between distributed applications and provides a set of features that support development
of realistic distributed applications for a robot. Also, it avoids unnecessary complexity, making the middleware easy to
learn and to use.
For writing application, both client and server consist of a mixture of application code, library code, and code generated
from IDL definition called MIDL (Module Interface Definition Language). The Service-Adaptive Engine in SL contains
the client-and server-side run-time support for remote communication. The generic part of the Service-Adaptive Engine
(that is, the part that is independent of the specific types you have defined in MIDL) is accessed through the SL API.
The proxy code is generated from MIDL definitions and, therefore specific to the types of objects and data you have
defined in MIDL.
A feature information based VPH for local path planning with obstacle avoidance of the mobile robot
Author(s):
Tae-Seok Oh;
Yun-Su Shin;
Sung-Yong Yun;
Wang-Heon Lee;
Il-Hwan Kim
Show Abstract
This study shows how a mobile service robot can avoid obstacles, and presents a VPH method using feature information
for Local Path Planning. It is not easy to make a mobile service robot automatically move towards the goal. Path Planning
lays out the path through which a robot follows to reach the goal. It can be divided into two folds: Global Path Planning
(GPP) and Local Path Planning (LPP). Local path planning sets a path in a changing environment with moving obstacles
such as in a museum and exhibition hall so that the robot reaches the goal without any collision. This study evaluates the
Fusion Map-VPH (FM-VPH) Local path planning method with improved VPH by making use of the combined data drawn
up through the ultrasonic sensor and laser sensor and by means of feature information. The results of the simulations and
experiments have verified the validity of the methods described.
An audiovisual emotion recognition system
Author(s):
Yi Han;
Guoyin Wang;
Yong Yang;
Kun He
Show Abstract
Human emotions could be expressed by many bio-symbols. Speech and facial expression are two of them. They are both
regarded as emotional information which is playing an important role in human-computer interaction. Based on our
previous studies on emotion recognition, an audiovisual emotion recognition system is developed and represented in this
paper. The system is designed for real-time practice, and is guaranteed by some integrated modules. These modules
include speech enhancement for eliminating noises, rapid face detection for locating face from background image,
example based shape learning for facial feature alignment, and optical flow based tracking algorithm for facial feature
tracking. It is known that irrelevant features and high dimensionality of the data can hurt the performance of classifier.
Rough set-based feature selection is a good method for dimension reduction. So 13 speech features out of 37 ones and 10
facial features out of 33 ones are selected to represent emotional information, and 52 audiovisual features are selected
due to the synchronization when speech and video fused together. The experiment results have demonstrated that this
system performs well in real-time practice and has high recognition rate. Our results also show that the work in multimodules
fused recognition will become the trend of emotion recognition in the future.
Joint torque-velocity pair based manipulability for manipulators
Author(s):
Tetsuyou Watanabe
Show Abstract
This paper provides a new approach of manipulability for robotic manipulators. While conventional manipulability
is analysis in velocity domain and can not include force effect such as gravity of link and payload, the
proposing approach can include the force effect. For the purpose, an operation range is introduced. The operation
range is for actuator attached with every joint of robot and provides generable joint torque and velocity and
their relation (between generating torque/velocity and addable velocity/torque). Using the operation range, we
develop a new manipulability in velocity domain, including force effect.
3D detection of obstacle distribution in walking guide system for the blind
Author(s):
Myoung-Jong Yoon;
Kee-Ho Yu
Show Abstract
In this paper, the concept of a walking guide system with tactile display is introduced, and experiments of 3-D obstacle
detection and tactile perception are carried out and analyzed. The algorithm of 3-D obstacle detection and the method of
mapping the generated obstacle map and the tactile display device for the walking guide system are proposed. The
experiment of the 3-D detection for the obstacle position using ultrasonic sensors is performed and estimated. Some
design guidelines for a tactile display device that can display obstacle distribution is discussed.
Remarks on 3D human body posture reconstruction from multiple camera images
Author(s):
Yusuke Nagasawa;
Takako Ohta;
Yukiko Mutsuji;
Kazuhiko Takahashi;
Masafumi Hashimoto
Show Abstract
This paper proposes a human body posture estimation method based on back projection of human silhouette images
extracted from multi-camera images. To achieve real-time 3D human body posture estimation, a server-client system is
introduced into the multi-camera system, improvements of the background subtraction and back projection are
investigated. To evaluate the feasibility of the proposed method, 3D estimation experiments of human body posture are
carried out. The experimental system with six CCD cameras is composed and the experimental results confirm both the
feasibility and effectiveness of the proposed system in the 3D human body posture estimation in real-time. By using the
3D reconstruction of human body posture, the simple walk-through application of virtual reality system is demonstrated.
Industrial dual arm robot manipulator for precise assembly of mechanical parts
Author(s):
Chanhun Park;
Doohyung Kim;
Kyoungtaik Park;
Youngjin Choi
Show Abstract
A new structure of dual arm robot manipulator which consists of two industrial 6-DOF arms and one 2-DOF Torso is
introduced. Each industrial 6-DOF arm is able to be used as a stand-alone industrial 6-DOF robot manipulator and as a
part of dual arm manipulator at the same time. These structures help the robot maker which is willing to succeed in the
emerging dual arm robot market in order to have high competition for the current industrial robot market at same time.
Self-collision detection algorithm for multi-arm robot and kinematics algorithms for the developed dual arm robot
manipulator which are implemented in our controller are introduced.
Parallel controller construction for a multi-DOF hand rehabilitation equipment
Author(s):
Satoshi Ito;
Satoshi Ueki;
Koji Ishihara;
Masayuki Miura;
Haruhisa Kawasaki;
Yasuhiko Ishigure;
Yutakai Nishimoto
Show Abstract
This paper describes the development of a hand rehabilitation system for stroke patients. Our aim is to provide
fine motion exercise for a hand and fingers. Thus, a hand rehabilitation device that assists patients' finger
movements was developed. Because this device has 18 degrees of freedom of motion, it is diffcult for disabled
patients to use it by themselves. Therefore, an appropriate control strategy and control system are required to
allow its safe and effective use. In light of this requirement, a control system was constructed which is comprised
of four separated controllers. This paper presents the structure of the control system and introduces the control
protocols used in our hand rehabilitation system.
An evolutional artificial potential field algorithm based on the anisotropy of omnidirectional mobile robot
Author(s):
Qixin Cao;
Chuntao Leng;
Yanwen Huang
Show Abstract
The traditional artificial potential field (APF) method is widely used for motion planning of traditional mobile robot, but
there is little research about the application to the omnidirectional mobile robot (OMR). To propose a more suitable
motion planning for OMR, an evolutional APF is presented in this paper, by introducing the revolving factor into the
APF. The revolving factor synthesizes the anisotropy of OMR and the affect of dynamic environment. Finally simulation
is carried out to demonstrate that, the evolutional APF is a high-speed and high-efficiency motion planning by comparing
with the traditional APF, and the advantages of OMR is exerted.
Generation of initial stepping pattern of a biped robot with modular dynamic encoding algorithm for searches
Author(s):
Taegyu Kim;
Jong-Wook Kim
Show Abstract
In this paper, a modified version of dynamic encoding algorithm for searches (DEAS) is proposed and applied to generate walking patterns of a biped humanoid robot. For the controller of each joint motor to generate optimal trajectories, mDEAS is developed from the previous versions of exhaustive DEAS (eDEAS) and univariate DEAS (uDEAS). Modular DEAS (mDEAS) searches optimal coefficients of polynomials whose trajectories are assigned to joint motors. Since the number of the coefficients amounts up to 16, sharing search space and optimizing independently is expected to search efficiently. For validation of mDEAS, a simulation result about initial stepping is provided.
Stability enhancement of haptic interaction by analog input shaper and its application to scaled teleoperation
Author(s):
Yo-An Lim;
Jong-Phil Kim;
Jeha Ryu
Show Abstract
This paper addresses an analog input shaper introduced in haptic control to improve the stability when interacting
with virtual environments. High frequency inputs to a haptic device, which can occur in collision with a virtual
wall with high stiffness, can bring limit cycle oscillations and instabilities. In order to reduce the high frequency
input to an haptic device an analog input shaper is added to the control system. Since the input shaper acts as
a low-pass filter, when a haptic pointer leaves the virtual wall with high stiffness, a user may feel slow decrease
of impedance, moreover there may be negative impedance as if the wall is pulling. In order to prevent this,
we add half-wave rectifiers which allow fast decrease of impedance and no negative input to a haptic device.
The input shaper reduces the total energy supplied to a haptic device by preventing inputs with high frequency
from flowing into a haptic device. Therefore it can be regarded as an artificial damping element. In order to
apply the Energy-Bounding Algorithm (EBA),1 which can guarantee the stable haptic interaction, to a scaled
teleoperation in a virtual nano-environment two scaling factors (velocity and force) are incorporated into EBA.
By applying the analog input shaper to EBA in scaled teleoperation, the range of virtual wall stiffness which
can be stably rendered by a haptic device is significantly extended.
Coordination control of behavior-based distributed networked robotic systems: a state modeling approach
Author(s):
R. M. Kuppan Chetty;
M. Singaperumal;
T. Nagarajan
Show Abstract
The coordinated motion of group of autonomous mobile robots for the achievement of goal has been of high interest
since the last decade. Previous research works have revealed that one of the essential problems in the area is to plan,
navigate and coordinate the motion of robots, avoiding obstacles as well as each other while still achieving the goal. In
this paper, Behavior Based approach for the control of distributed networked robotic system, concentrated towards the
navigation, planning and coordination between them in unknown complex environment is addressed. A layered behavior
based control architecture, with the basic behaviors of Message passing, Obstacle avoidance, Safe wandering and Pit
sensing have been designed and assigned to the individual robotic systems to form a navigation algorithm. Validation of
this guidance algorithm is carried out through simulations using SIMULINK/State flow.
Position accuracy and sensitivity due to distance error and beacon position in the localization system using ultrasonic wave
Author(s):
Ui-Kun Hwang;
Kyoo-Sic Jeong;
Dong-Hun Shin
Show Abstract
This paper presents the position accuracy and sensitivity for the robot localization system using the ultrasonic wave. This
localization system consists of many beacons and a receiver. Many beacons are located in the absolute coordinate
defined by user and a receiver is loaded in the robot. The robot position can be computed from the known beacon
positions and more than three distance information between the receiver and beacons measured by ultrasonic wave. But
the distance measured by ultrasonic wave includes errors that are limited by ultrasonic sensor efficiency. We found that
±2cm tolerance for measured distance in Threshold method is independent with the distance range. Since more than 3
beacons are used, Least-Square-Method are used to compute the receiver position. This paper derives the method of
position accuracy and sensitivity due to distance error by using Taylor Expansion and SVD(Singular Value
Decomposition) method.
Information collecting system based on aerial images obtained by a small UAV for disaster prevention
Author(s):
Taro Suzuki;
Jun-ichi Meguro;
Yoshiharu Amano;
Takumi Hashizume;
Rui Hirokawa;
Kaoru Tatsumi;
Koichi Sato;
Jun-ichi Takiguchi
Show Abstract
This paper presents a disaster prevention system using aerial images obtained by a small unmanned aerial vehicle (UAV).
The immediate assessment of damage information and the continuous collection of information for constructing a revival
plan are important for damage mitigation when natural disasters such as large earthquakes occur. In this study, we
develop a small prototype UAV and onboard software using a GPS navigation system and propose a unique disaster
prevention system that employs the small UAV and a geographical information system (GIS). We divide the period that
follows a natural disaster on the basis of three processes, and we propose the use of the small UAV for gathering and
integrating information into the GIS. We conducted field experiments to evaluate the proposed system employing the
small UAV. From the results of our experiments, we concluded that the system is effective in disaster prevention.
Concept and architeture of a centaur robot
Author(s):
Satoshi Tsuda;
Yohsuke Oda;
Kuniya Shinozaki;
Ryohei Nakatsu
Show Abstract
Recently various types of robots are being studied and developed, which can be classified into two groups: humanoid
type and animal types. Since each group has its own merits and demerits, a new type of robot is expected to emerge with
greater strengths and fewer weaknesses. In this paper we propose a new type of robot called the "Centaur Robot" by
merging the concepts of these two types of robots. This robot has a human-like upper body and a four-legged animal-like
lower body. Due to this basic architecture, the robot has several merits, including human-like behaviors. It can also walk
smoothly and stably even on non-smooth ground. We describe the basic concept of our centaur robot and then explain its
hardware and software architectures as well as its merits.
Concept and construction of a robot dance system
Author(s):
Kuniya Shinozaki;
Akitsugu Iwatani;
Ryohei Nakatsu
Show Abstract
Dance is one form of entertainment where physical movement is the key factor. The main reason why robots are
experiencing a kind of "boom" is that they have a physical body. We propose a robot dance system that combines these
two elements. First, various factors concerning entertainment and dance are studied. Then we propose a robot dance
system in which a humanoid robot achieves various dance performances by concatenating different short dance motions.
Also we describe the details of the system by focusing on its software functions and show evaluation results of robot
dance performances.
Human-human cooperative task characteristics and motion analysis based on human visual and auditory senses
Author(s):
Shahriman Abu Bakar;
Ryojun Ikeura;
Yuichiro Handa;
Takemi Yano;
Kazuki Mizutani
Show Abstract
To design human cooperative robot it is necessary to take into consideration the factor to make the robot move as smooth
as possible during the cooperative task. This is to ensure that human can work with robot with high degree of smoothness
that would ensure the task is completed without stress and fatigue to human. Since robot does not know the feeling of
human, we need to replicate the human motion characteristic into the robot. In human-human cooperative task normally
to achieve good cooperative task, human will use auditory, visual and touch senses. We want to understand what kind of
sense at which moment it is uses to get good cooperative task. We arranged the experiment subjects so that they utilized
their senses individually during the cooperative task. Experiment devices are equipped with 3D position sensors and
force sensors to measure the position, angle and force value. This research is concentrating the force and torque
characteristic that occurs to the human participants during human-to-human cooperative work where the human audio,
visual and touch senses are applied.
Study on the intelligent decision making of soccer robot side-wall behavior
Author(s):
Xiaochuan Zhang;
Guifang Shao;
Zhi Tan;
Zushu Li
Show Abstract
Side-wall is the static obstacle in soccer robot game, reasonably making use of the Side-wall can improve soccer robot
competitive ability. As a kind of artificial life, the Side-wall processing strategy of soccer robot is influenced by many
factors, such as game state, field region, attacking and defending situation and so on, each factor also has different
influence degree, so, the Side-wall behavior selection is an intelligent selecting process. From the view point of human
simulated, based on the idea of Side-wall processing priority[1], this paper builds the priority function for Side-wall
processing, constructs the action predicative model for Side-wall obstacle, puts forward the Side-wall processing strategy,
and forms the Side-wall behavior selection mechanism. Through the contrasting experiment between the strategy applied
and none, proves that this strategy can improve the soccer robot capacity, it is feasible and effective, and has positive
meaning for soccer robot stepped study.
Characteristics of human arm based on musculoskeletal model in human-human cooperative task
Author(s):
Nan Zhang;
Ryojun Ikeura;
Yuanxin Wang;
Kazuki Mizutani;
Hideki Sawai
Show Abstract
Human characteristics are supposed to be applied to the control systems of the human-friendly robots. Therefore, it is
important to know the human characteristics in human-robot cooperative tasks. In this study, we considered a single
rotational degree of freedom experimental system as well as a mass-spring-damper-friction dynamic model for the
human arm and analyzed the master-slave and the master-semi master cooperative motions. Through the master-slave
cooperative motion, we verified the application of the mass-spring-friction dynamic model of the slave's arm, and
regarding its parameter we found the damping factor as zero and the stiffness as well as the coulomb friction torque
almost individually invariable. Through the master-semi master cooperative motion, we got the torque characteristics and
drew a comparison of them with those in the master-slave cooperative motion, and then we found improved torque
characteristics, the constant torque characteristics.
Simulated comparison on kinematics properties of two typical mechanisms of forging manipulator
Author(s):
Yunpeng Ren;
Chongshao Lu;
Qingkai Han;
Tianxia Zhang;
Bangchun Wen
Show Abstract
The kinematics of two typical mechanisms is analyzed following the concept design of a 4MNm forging manipulator for
a huge hydraulic press, i.e. a parallel links mechanism and a swing links mechanism. For the first kind of mechanism,
when the jaw swings up and down, the swing angle is in proportion to the extending length of its driving hydraulic
cylinder. For the second kind of mechanism, it is mostly difficult for the fluid driving control system to make sure three
hydraulic pressure cylinders to keep moving synchronously. Based on these simulations and considering practical
technological demands, the first kind of mechanism with parallel links is chosen as a better one.
A CAN bus based control system for a joint modular robot
Author(s):
Qingkai Han;
Li Wang;
Yunpeng Ren;
Tianxia Zhang;
Bangchun Wen
Show Abstract
This paper is mainly about a new robot control system, which has open structures, and whose architecture is based on
CAN bus for a joint modular robot. The hardware system of the joint control module is designed for signal sampling and
processing, data storage and communication. ATmega64 SCM is selected as the core processor. A CAN card is used for
communication. FM256 RAM is used for data storage and condensation. The monitoring software and lower level
control processing software are developed with ZLGVCI interface functions of CAN bus, and in the ICC AVR IDE and
AVR Studio online debug tool with C language. Some experiments are carried out to validate the basic functions of the
control system.
Haptic device for virtual prototyping
Author(s):
Takashi Morioka;
Ken Sasaki;
Hideki Miyatake;
Michimasa Itoh
Show Abstract
In determining the quality of a car, switch feeling is one of the important factors. Designing switches is time consuming because the relationships between characteristics of a desired switch and design parameters such as spring stiffness or stroke are not very clear, and furthermore, physical evaluation requires prototypes. A haptic Virtual Prototyping Environment (VPE), in which CAE (Computer-Aided Engineering) and haptic interface work together to display virtual feelings of mechanisms designed by CAD (Computer-Aided Design) will enable designers to feel the motions of the designed switches without prototypes. This paper presents design and quantitative evaluation of a haptic VPE for power window switches. We compared relationship between displacement and static reaction force, and acceleration during clicking motion. The similarity in the force vs stroke curve (FS curve) suggests the overall similarity in the feeling of the whole switch stroke. The acceleration showed some differences, which was felt as somewhat softer clicking effect. The lower frequency of the residual vibration of the haptic device indicates that the equivalent inertia of the haptic device is larger than that of the real switch. Although the overall motion of the switch stroke felt similar, quality of reality needs further refinement. Introduction of acceleration feedback for reducing the equivalent inertia is discussed.
Development of a compact untethered remotely operated vehicle
Author(s):
Kosei Shimoo;
Takakazu M. Ishimatsu;
Saturo Kishima;
Nobuyoshi Taguchi;
Yutaka Nagashima
Show Abstract
Recently, the scientific investigations of marine environment, marine products and algae fields often require the use of
underwater vehicle to perform survey and monitoring tasks. This paper describes a compact unthethered remotely
operated vehicle (UROV). The vehicle is compact and light in weight by employing a VARIVEC propeller. The UROV
operator controls by the UROV monitor including the data of GPS, electronic compass, sonar, depth and range sensor.
The sensor data are extracted smartly by the Programmable System on Chip (PSoC) microprocessor. The performance of
UROV is examined about the operating characteristics, image transmission, and remotely monitoring system. The
temperature, conductivity, and turbidity of the sea surface are collected with accuracy.
Component-based approach to robot vision for computational efficiency
Author(s):
Junhee Lee;
Dongsun Kim;
Yeonchool Park;
Sooyong Park;
Sukhan Lee
Show Abstract
The purpose of this paper is to show merit and feasibility of the component based approach in robot system integration.
Many methodologies such as 'component based approach, 'middle ware based approach' are suggested to integrate
various complex functions on robot system efficiently. However, these methodologies are not used to robot function
development broadly, because these 'Top-down' methodologies are modeled and researched in software engineering
field, which are different from robot function researches, so that cannot be trusted by function developers. Developers'
the main concern of these methodologies is the performance decreasing, which origins from overhead of a framework.
This paper overcomes this misunderstanding by showing time performance increasing, when an experiment uses 'Self
Healing, Adaptive and Growing softwarE (SHAGE)' framework, one of the component based framework. As an
example of real robot function, visual object recognition is chosen to experiment.
A novel octree partitioning approach based on camera parameters for unknown object representation
Author(s):
JeongHyun Seo;
JaeWoong Kim;
Sukhan Lee;
Yeonchool Park
Show Abstract
This paper proposes an improved octree representation method which is necessary for robot manipulation. To manipulate
an object in a certain complex environment, robot needs simple, precise, and task oriented environment representations.
Octree is a effective and broadly used three dimensional volumetric representation method to do this. But the problem of
the conventional octree representation methods is that it generate many useless and incorrect cells because it generates
the octree based on the number of 3D points. To solve these problems, we use the new 'Fill-Factor' concept. This paper
introduces the concept and shows the experimental results to show the feasibility of the concept.
Research and development of service robot platform based on artificial psychology
Author(s):
Xueyuan Zhang;
Zhiliang Wang;
Fenhua Wang;
Masatake Nagai
Show Abstract
Some related works about the control architecture of robot system are briefly summarized. According to the discussions
above, this paper proposes control architecture of service robot based on artificial psychology. In this control architecture,
the robot can obtain the cognition of environment through sensors, and then be handled with intelligent model, affective
model and learning model, and finally express the reaction to the outside stimulation through its behavior. For better
understanding the architecture, hierarchical structure is also discussed. The control system of robot can be divided into
five layers, namely physical layer, drives layer, information-processing and behavior-programming layer, application
layer and system inspection and control layer. This paper shows how to achieve system integration from hardware
modules, software interface and fault diagnosis. Embedded system GENE-8310 is selected as the PC platform of robot
APROS-I, and its primary memory media is CF card. The arms and body of the robot are constituted by 13 motors and
some connecting fittings. Besides, the robot has a robot head with emotional facial expression, and the head has 13 DOFs.
The emotional and intelligent model is one of the most important parts in human-machine interaction. In order to better
simulate human emotion, an emotional interaction model for robot is proposed according to the theory of need levels of
Maslom and mood information of Siminov. This architecture has already been used in our intelligent service robot.
Study of robot landmark recognition with complex background
Author(s):
Yuqing Huang;
Jia Yang
Show Abstract
It's of great importance for assisting robot in path planning, position navigating and task performing by perceiving and
recognising environment characteristic. To solve the problem of monocular-vision-oriented landmark recognition for
mobile intelligent robot marching with complex background, a kind of nested region growing algorithm which fused
with transcendental color information and based on current maximum convergence center is proposed, allowing
invariance localization to changes in position, scale, rotation, jitters and weather conditions. Firstly, a novel experiment
threshold based on RGB vision model is used for the first image segmentation, which allowing some objects and partial
scenes with similar color to landmarks also are detected with landmarks together. Secondly, with current maximum
convergence center on segmented image as each growing seed point, the above region growing algorithm accordingly
starts to establish several Regions of Interest (ROI) orderly. According to shape characteristics, a quick and effectual
contour analysis based on primitive element is applied in deciding whether current ROI could be reserved or deleted after
each region growing, then each ROI is judged initially and positioned. When the position information as feedback is
conveyed to the gray image, the whole landmarks are extracted accurately with the second segmentation on the local
image that exclusive to landmark area. Finally, landmarks are recognised by Hopfield neural network. Results issued
from experiments on a great number of images with both campus and urban district as background show the
effectiveness of the proposed algorithm.
Grasp and manipulation by soft finger with 3-dimensional deformation
Author(s):
Akira Nakashima;
Takeshi Shibata;
Yoshikazu Hayakawa
Show Abstract
In this paper, we consider control of grasp and manipulation of an object in 3-dimensional space by a 3-fingered hand robot
with soft finger-tips. We firstly propose a 3-dimensional deformation model of a semispherical soft fingertip and confirm
its relevance by experiments. Second, we derive the rolling contact kinematics and the dynamical equations of the fingers
and the object where the 3-dimensional deformation is considered. For the system, we thirdly propose a method to regulate
the object and the internal force with the information of the hand, the object and the deformation. Simulations are shown
to prove the effectiveness of the control method.
Operation assistance of a voice-controlled electric wheelchair
Author(s):
Takashi Asakawa;
Kazue Nishihara
Show Abstract
We propose a voice-controlled electric wheelchair with a system for detecting its position and direction. Thus far, we
have studied systems that incorporated voice instructions with our indoor navigation equipment using RF tags. The
operability of a wheelchair was measured in the same environment for different operating methods. We found that one
very effective method is to store the possible stopping positions and angles of rotation for the desired directions in RF
cards, which could then adequately assist the movement of a wheelchair.
Control of parallel mechanism with redundant actuators and non-redundant actuators
Author(s):
Tatsuro Hino;
Michihiro Kawanishi;
Hiroshi Kanki;
Tatsuo Narikiyo
Show Abstract
In parallel mechanisms with redundant actuators, actuator forces are underspecified because of redundancy. In this paper,
the method to minimize a maximum actuator force was proposed. At first, parallel mechanism with two redundant
actuators and Stewart platform model using the linear shaft motor were developed. This redundant parallel mechanism
was consists of Stewart platform and additional 2 redundant actuators. Inverse dynamics of each mechanisms were
formulated. Secondly, effectiveness of dynamic control of Stewart platform was experimentally confirmed. Finally, the
method to minimize a maximum actuator force using Linear Matrix Inequality (LMI) was proposed. And the
effectiveness of the proposed method was confirmed by simulation.
Control of a two-link flexible manipulator using neural networks
Author(s):
Minoru Sasaki;
Haruki Murasawa;
Satoshi Ito
Show Abstract
In this paper, control of a two-link flexible manipulator using neural networks is presented. The neural networks are
trained so as to make the error between the root strain and the desired root strain and the error between the joint angles
and the desired joint angles almost zero. In the process, the neural networks learn the inverse dynamics of the system.
Also we compared the learning algorithms between conventional back propagation method and adaptive learning method.
The numerical results and experimental results show that this NN control system can suppress the vibrations of the
flexible manipulator within a short time in comparison with no feedback. Numerical and experimental results for the
vibration control of a two-link flexible manipulator are presented and verify that the proposed NN control system is
effective at controlling flexible dynamical systems.
Standing and sitting motion of inverted pendulum type assist robot using whole-body motion with force control
Author(s):
SeongHee Jeong;
Takayuki Takahashi
Show Abstract
This paper describes quick and stable standing and sitting motion of an inverted pendulum type robot by wholebody
motion including force control. The whole-body motion is achieved by controlling composite center of
gravity of the robot, and damping force control of a wrist-roller is employed to assure the stability of inverted
pendulum control on a contact situation with the ground. Motion planning of standing and sitting based on the
proposed control method is also proposed. Standing and sitting motion using the proposed motion control and
motion planning is simulated with a dynamic simulator, ODE(Open Dynamics Engine). From the simulation
results, it was confirmed that the robot successively realized the standing and sitting motion quickly and stably.
Research on bifurcation characters of rotor system with SMA bearing
Author(s):
Gen Ge;
Hong-Li Wang;
Zhi-Wen Zhu
Show Abstract
Based on Landau-Devonshire Shape Memory Alloy SMA model and Nitzsche-Breitbach-Elmar SMA model, the
bifurcation characteristic of rotor-shape memory alloy bearings(SMAB) system was investigated in this paper.
Heteronomous system was transformed into autonomous system in averaging method and Van der Pol transformation,
and the existence of Hopf bifurcation was proved in theory. The concept of broadened set of equilibrium point was
introduced to improve centre manifold method to be adapted to heteronomous system. The equation of the flow on the
centre manifold of rotor-SMAB system was obtained, and the existence of transcritical bifurcation and supercritical
pitchfork bifurcation was proved in theory. Finally the result in centre manifold method was compared with the one in
averaging method. The comparison shows that the results of the two methods were both the parts of global dynamic
characteristic of rotor-SMAB system, while centre manifold method can be applied to research bifurcation behavior in
the case of more codimensions. It means that the two methods both have limitation, and global dynamic characteristic
must be obtained in kinds of method.
Optimization on robot arm machining by using genetic algorithms
Author(s):
Tung-Kuan Liu;
Chiu-Hung Chen;
Shang-En Tsai
Show Abstract
In this study, an optimization problem on the robot arm machining is formulated and solved by using genetic algorithms
(GAs). The proposed approach adopts direct kinematics model and utilizes GA's global search ability to find the
optimum solution. The direct kinematics equations of the robot arm are formulated and can be used to compute the end-effector
coordinates. Based on these, the objective of optimum machining along a set of points can be evolutionarily
evaluated with the distance between machining points and end-effector positions. Besides, a 3D CAD application,
CATIA, is used to build up the 3D models of the robot arm, work-pieces and their components. A simulated experiment
in CATIA is used to verify the computation results first and a practical control on the robot arm through the RS232 port
is also performed. From the results, this approach is proved to be robust and can be suitable for most machining needs
when robot arms are adopted as the machining tools.
Dynamic response analysis and active vibration control of flexible composite material barrel under a moving projectile
Author(s):
Hongsheng Hu;
Suxiang Qian;
Linfang Qian;
Chengrong Wang
Show Abstract
The dynamic response and active vibration control of flexible composite material barrel under moving projectile are
studied in this paper. After analyzing its vibration characteristics, the active vibration control technology is introduced to
suppress its vibration. Combining theoretical modeling and experimental developing, some key problems of applying the
active vibration control technology to vibration control of flexible composite barrel are discussed, which provides the
technology foundation for later developing of flexible smart composite barrel. The coupling vibration model between the
moving projectile and flexible composite barrel is established and solved by applying numerical iterative method and
simulation experimental study, and many valuable conclusions are made. Besides, the dynamic response model and state
space model for active vibration control of barrel under a moving projectile is established. And the adaptive fuzzy
control strategy is introduced to suppress the flexible composite material barrel vibration. The testing system of dynamic
response and active vibration control for barrel under a moving projectile is designed and developed. The experimental
results showed the effectiveness of this kind of control strategy for flexible composite material barrel bonded with
piezoelectric self-sensing actuator under a moving projectile, which demonstrated that using the smart material could
suppress the time-varying system flexible structure vibration active control.
Semi-active control of a landing gear system using magnetrorheological damper
Author(s):
Y. J. Nam;
M. K. Park;
J. W. Choi;
R. Yamane
Show Abstract
This paper is concerned with the applicability of the developed MR damper to the landing gear system for the attenuating
undesired shock and vibration in the landing and taxing phases. First of all, the experimental model of the MR damper is
derived based on the results of performance evaluations. Next, a simplified skyhook controller, which is one of the most
straightforward, but effective approaches for improving ride comport in vehicles with active suspensions, is formulated.
Finally, the vibration control performances of the landing gear system using the MR damper are theoretically evaluated
in the landing phase of the aircraft. A series of simulation analyses show that the proposed MR damper with the skyhook
controller is effective for suppressing undesired vibration of the aircraft body.
Smart glove: hand master using magnetorheological fluid actuators
Author(s):
Y. J. Nam;
M. K. Park;
R. Yamane
Show Abstract
In this study, a hand master using five miniature magneto-rheological (MR) actuators, which is called 'the smart glove',
is introduced. This hand master is intended to display haptic feedback to the fingertip of the human user interacting with
any virtual objects in virtual environment. For the smart glove, two effective approaches are proposed: (i) by using the
MR actuator which can be considered as a passive actuator, the smart glove is made simple in structure, high in power,
low in inertia, safe in interface and stable in haptic feedback, and (ii) with a novel flexible link mechanism designed for
the position-force transmission between the fingertips and the actuators, the number of the actuator and the weight of the
smart glove can be reduced. These features lead to the improvement in the manipulability and portability of the smart
glove. The feasibility of the constructed smart glove is verified through basic performance evaluation.
Automobile body continuous-variable-based discrete thickness optimization for maximizing natural frequency
Author(s):
Henry Panganiban;
Gang Won Jang;
Tae Jin Chung;
Young Min Choi
Show Abstract
Thickness optimization of an automobile body is presented. The thicknesses of plates making-up the monocoque body of
an automobile are employed as design variables for optimization and the objective is to increase the first torsional and
bending natural frequencies. By allotting one design variable to each plate of the body, compared to previous works
based on element-wise design variables, design space of optimization was reduced to a large extent. Considering
manufacturability of the optimized thicknesses, a straightforward thickness discretization scheme considering design
sensitivities and employing a subsequent reduced optimization problem is formulated. With the optimized thicknesses,
the car body maintained its weight with around 6 Hz frequency increase compared to the initial design.
Two-degree-of-freedom control of a self-sensing micro-actuator for HDD
Author(s):
Minoru Sasaki;
Koji Fujihara;
Yoonsu Nam;
Satoshi Ito
Show Abstract
The present paper describes a two-degree-of-freedom control of a self-sensing micro-actuator for a dual-stage hard disk
drive. The two-degree-of-freedom control system is comprised of a feedforward controller and a feedback controller.
Two controllers are designed for the two-degree-of-freedom control system, one for the inverse dynamic model for the
feedforward controller and one for the feedback controller using self-sensing signal. The feedback controller can realize
the self-sensing signal. The micro-actuator uses a PZT actuator pair, installed on the assembly of the suspension. The
self-sensing micro-actuator can be used to form a combined actuation and sensing mechanism. Experimental results
show that the two-degree-of-freedom control approach can be used effectively for the control of the self-sensing microactuator
system.
Fuel saver based on electromagnetic induction for automotive engine
Author(s):
Houtman P. Siregar;
Maradu Sibarani
Show Abstract
In the considered research is designed and analyzed the performance of the fuel saver which is based on electromagnetic
induction for automotive diesel engine. The fuel saver which is based on permanent magnet has sold in market and its
performance has tested. In comparison to the former fuel saver, in the proposed work is produced fuel saver which is
based on electromagnetic induction. The considered research is the continuation of my former work. Performance of
the produced fuel saver which is installed in the fuel line of internal combustion engine rig is compared to the
performance of the standard internal combustion engine rig Speed of the engine, wire diameter of coil, and number of
coil which is coiled in the winding of the the fuel saver are chosen as the testing variables. The considered research has
succeeded to design the fuel saver which is based on electromagnetic induction for saving the automotive fuel
consumption. Results of the research show that the addition of the fuel saver which is based on electromagnetic
induction to the flow of the diesel fuel can significantly save the automative fuel consumption. In addition the designed
fuel saver can reduce the opacity of the emission gas.
Total ionizing dose effects on the IGBT performance for a DC-DC converter
Author(s):
Young Hwan Lho;
Sang Yong Lee;
Phil-Hyun Kang
Show Abstract
IGBT in power system has been dominating MOS (Metal Oxide Semiconductor) transistor since IGBTs (Insulated Gate
Bipolar Transistor) guarantee better conduction loss and large current capacity. The radiation induced characteristics of
IGBT are mainly emphasized the threshold shifting due to the oxide charge trapping in MOS and the reduction of current
gain in the bipolar transistor being inherently composed in the IGBT structure. A lot of analysis on IGBT irradiation has
been carried out by researchers. The IGBT in the converter plays an important role in switching. In this paper, the IGBT
macro-model for the DC/DC converter is implemented and analyzed the electrical characteristics by SPICE simulation
model. In addition, the design SPICE parameters of BF (forward beta), KP (MOS trans-conductance), and VT (threshold
voltage) by γ radiation effects are evaluated.
Development of fault diagnosis system for transformer based on multi-class support vector machines
Author(s):
Jian Cao;
Suxiang Qian;
Hongsheng Hu;
Gongbiao Yan
Show Abstract
The support vector machine (SVM) is an algorithm based on structure risk minimizing principle and having high
generalization ability. It is strong to solve the problem with small sample, nonlinear and high dimension. The
fundamental theory of DGA (Dissolved Gas Analysis, DGA) and fault characteristic of transformer is firstly researched
in this paper, and then the disadvantages of traditional method of transformer fault diagnosis are analyzed, finally, a new
fault diagnosis method using multi-class support vector machines (M-SVMs) based on DGA theory for transformer is
put forward. Then the fault diagnosis model based on M-SVMs for transformer is established. At the same time, the fault
diagnosis system based on M-SVMs for transformer is developed. The system can realize the acquisition of the
dissolving gas in the transformer oil and data timely and low cost transmission by GPRS (General Packet Radio Service,
GPRS). And it can identify out the transformer running state according to the acquisition data. The test results show that
the method proposed has an excellent performance on correct ratio. And it can overcome the disadvantage of the
traditional three-ratio method which lacks of fault coding and no fault types in the existent coding. Combining the
wireless communication technology with the monitoring technology, the designed and developed system can greatly
improve the real-time and continuity for the transformer' condition monitoring and fault diagnosis.
Vibration evaluation of nonlinear system under random parametric excitations by probabilistic method
Author(s):
Sin-Young Lee;
Guoqiang Cai
Show Abstract
Vibration of a non-linear system under random parametric excitations was evaluated by probabilistic methods. The nonlinear
characteristic terms of a system were quasi-linearized and excitation terms were remained as they were. An
analytical method where the square mean of error was minimized was used. An alternative method was an energy
method where the damping energy and restoring energy of the linearized system were equalized to those of the original
non-linear system. The numerical results were compared with those obtained by Monte Carlo simulation. The
comparison showed the results obtained by Monte Carlo simulation located between those by the analytical method and
those by the energy method.
Effect of the design and the tolerance parameters on the thermosonic transverse bonding flip chip system
Author(s):
Ha Kyu Jung;
Won Tae Kwon;
Soo-Il Lee
Show Abstract
Thermosonic flip chip bonding is an important technology for the electronic packaging due to its simplicity, cost
effectiveness and clean and dry process. Mechanical properties of the horn and the shank, such as the natural frequency
and the amplitude, have a great effect on the bonding capability of the transverse flip chip bonding system. In this study,
an endeavor has been made to design the horn and shank as an assembly. A commercial FEM software (ANSYS) is used
to analyze the system. New design of the clamp to hold the horn at the nodal point is also introduced. The clamp with a
bent shape is newly designed. It shows the ability to increase the amplitude of the vibration at the end of the horn
compared with the straight-cylindrical-type-clamp.
For the optimal design of the horn-shank assembly system, it is studied the effect of the design parameters and the
tolerance on the vibration amplitude and planarity at the end of the shank. The variation of the design parameters and the
tolerance changes the amplitude and the frequency of the vibration of the shank. They, in turn, have an effect on the
quantity of the plastic deformation of the gold ball bump, which determined the quality of the flip chip bonding. The
design and tolerance parameters that give the great effect on the amplitude of the shank are determined using Taguchi's
method. Error of set-up angle, the length and diameter of horn and error of the length of the shank are determined to be
the parameters that have great effect on the amplitude of the system.
Design and optimization of a novel 2-D optical excited self-resonant microaccelerometer
Author(s):
Yu Liu;
Linqing Liao;
Guangze Zheng;
Guochao Wang;
Hongyun Yang;
Rui Xu
Show Abstract
A novel 2-D optical excited self-resonant microaccelerometer is presented. And its optical characteristics are discussed in theory. Based on genetic algorithm, the thickness of the polysilicon microbeam and the height of the vacuum cavity are optimized to obtain the optimum of light transmissivity.
Design method and stress analysis on bioprosthetic heart valve
Author(s):
Quan Yuan;
Chengrui Zhang;
Xiusheng Chen;
Xiaowei Wang
Show Abstract
This paper reports the geometrical design method of bioprosthetic heart valve and stress distribution of leaflets with
different shapes based on the theory of Membrane and finite element analysis method. According to Membrane theories,
we construct the geometrical parametric model of bioprosthetic heart valve to achieve the efficiency of the natural heart
valves of human. Combining traditional design theories and modern design methods, we create the paraboloid, spherical
curved surfaces in accordance with the geometrical equations in the appropriate frame ordinal. Based on the stress
analysis of two kinds of curved surfaces, we take turns to create relative inverse conic curved surfaces which satisfy the
actual condition. Meanwhile, the space positions of boundary curves and important points are determined by the
intersected curves and axis of revolution. Geometrical design and the Finite Element analysis could provide direct and
useful information for the bioprosthetic-heart-valve designer.The experimental result of the finite element analysis reveal
that the force distribution of sphere valves leaflets is comparatively reasonable. We also find that paraboloid valves
leaflets have such obvious features of stress concentration and non-uniform force distribution. Therefore, mechanical
properties of spherical valves leaflets are superior to those of paraboloid valves leaflets.
Research of the measure principle of the liquor resonance sensor
Author(s):
Qi Zhou;
Shengxiong Liu;
Ke Xu;
Cuicui Min;
Shijun Xu;
Jun Xiao
Show Abstract
Various sensors based on the piezoelectric crystal have been widely used in the process of research. Currently, the research and application of the piezoelectric sensors are mostly based on the "mass responses" and "non-mass responses" of the piezoelectric crystal. But in the researches and applications of the piezoelectric crystal sensors, many phenomenons have been found which can not be explained and can not accord with the Sauerbrey theory based on the "mass responses". And the scholars often explained those phenomenons with the "non-mass response of the piezoelectric crystal" [1]. In our researches, we improved the detectors and got some primary experimental results. And the results
showed that the non-mass respones has no relation to the piezoelectric sensor, and it related to the characteristics of the
liquor itself. Based on the results, it can be reckoned that this is a new physical phenomenon, that is to say, the liquor has
the electrical resonance characteristic which likes the characteristic of the piezoelectric crystal, and can identify the
characteristic of the liquor using the frequency of the electrical resonance. As soon as any of the characteristics of the
liquor changed such as component, and density, the resonance frequency will change accordingly.
A measurement of biomechanical properties of soft biological tissues
Author(s):
Piotr Sauer;
Krzysztof Kozłowski;
Jarosław Majchrzak;
Wojciech Waliszewski M.D.
Show Abstract
We present a method to determine the mechanical behaviour of soft biological tissues. This work presents ex vivo force
response between laparoscopic tool and the pig liver. We used measurement system which is based on Staubli robot
RX60 and a force sensor mounted at its end. Results of measurement will be used in surgery telerobotic system to create
the force feedback to secure additionally the surgery.
The study of a telemetry robot for gastrointestinal tract
Author(s):
Jianguo Cui;
Yunlong Wei;
Hong Wang
Show Abstract
The gastrointestinal (GI) system is an important part of human body. Gastrointestinal (GI) motility is an important indicator
of motor activity of the GI tract. Recent researches have proved that many GI diseases are caused by motility disorders
directly or indirectly. The measurement of motility is an important component in the diagnosis of GI motility disorders.
Present techniques for measuring motility have disadvantages ranging from patient discomfort to high cost. This paper
reports on the development of an inexpensive, minimally invasive monitoring system, capable of continuously measuring the
pressure and temperature of GI motility. Every functional part of the system is introduced, which mainly includes a micro
telemetry robot and a portable receiver.
Powered glove with electro-pneumatic actuation unit for the disabled
Author(s):
Kosuke Kawakami;
Shinichi Kumano;
Shunji Moromugi;
Takakazu Ishimatsu
Show Abstract
Authors have been developing a powered glove for people suffering from paralysis on their fingers to support their daily
activity. Small air cylinders are used as actuators for this glove. Pneumatically-driven system has high advantages in case
soft actuation is preferable. However, there are some problems to be solved in the pneumatically-driven system if the
system is supposed to be used in our daily life. Huge air compressor is needed and solenoid valves emit loud sound for
example. These problems are hurdles to commercialize the powered glove. To solve these problems authors have
developed a new actuation unit by integrating an electric cylinder and an air cylinder. This actuation unit has advantages
of both the electric actuation and the pneumatic actuation. Its advanced grip control ability has demonstrated through
several experiments. The experimental results are reported in this paper.
Design and analysis of micro-stirrer for thrombus dissolution
Author(s):
Minoru Morita;
Zhongwei Jiang;
Naoki Chijimatsu
Show Abstract
Thrombus or blood clot may cause cerebral infarction and myocardial infarction if the clot can not be dissolved within
several hours after it was formed. The objective of this study is to design a new structure of stirrer for thrombus
dissolution. In this paper, to stir the solution with a high viscosity like blood, large amplitude was confirmed to be
necessary for the stirrer by the fundamental experiment. For this purpose, shape of the stirrer and type of the actuator
were changed, and force and displacement of the stirrer were analyzed. Sine waves with the resonance frequencies of the
stirrer (50 V; 571 Hz) were used as the input signals. The performance of the stirrer was simulated by Finite Element
Analysis (FEA) to obtain large displacement. Results showed that the amplitude at the tip of stirrer was 100 times larger
than the output displacement of the PZT actuator stimulated with the resonance frequency. Concluding this paper, a new
type of the micro-stirrer was designed and analyzed by FEA and it was found that the proposed stirrer had a large
amplitude with a good input voltage efficiency.
New approach on evaluation of liposome release property with electric impedance measuring method
Author(s):
Guoming Chen;
Zhongwei Jiang;
Makato Yoshimoto;
Yafang Luo;
Yunlong Wei
Show Abstract
The purpose of this study is to develop a novel method for evaluation of the liposomes' release property by detecting the
electric impedance change in the liposome solution. Liposomes encapsulating calcein (calcein-liposomes) and de-ionized
water (white-liposomes) were prepared and ultrasound was employed as the stimulus in order to release the calcein from
liposomes. The impedance change of calcein-liposomes in de-ionized water was measured before and after ultrasound
treatment, as well as that of white-liposomes in de-ionized water and in calcein solutions for comparison. Besides, the
release of calcein-liposome suspensions was evaluated simultaneously by spectrofluorometer. Results showed that the
impedance of white-liposomes would change greatly when it was exposed to ultrasound and it was related to the total ion
concentration of the sample. The release rate of calcein calculated with electric impedances showed a good agreement to
that calculated with fluorescence intensities. It indicates that the electric impedance measuring method has high potential
to estimate the release rate as the fluorescence analysis do, and might be used for non-fluorescent encapsulated
liposomes which could not be evaluated by fluorescence method.
Modeling of patient's blood pressure variation during ambulance transportation
Author(s):
Kenji Sakatani;
Takahiko Ono;
Yasuhide Kobayasi;
Shinichi Hikita;
Mitsuyuki Saito
Show Abstract
In an emergency transportation by ambulance, a patient is transported in a supine position. In this position,
a patient's blood pressure (BP) variation depending on an inertial force which occurs when an ambulance
accelerates or decelerates. This BP variation causes a critical damage for a patent with brain disorder. In order
to keep a patient stable during transportation, it is required to maintain small BP variation. To analyze the BP
variation during transportation, a model of the BP variation has so far been made. But, it can estimate the BP
variation only in braking. The purpose of this paper is to make a dynamical model of the BP variation which can
simulate it in both braking and accelerating. First, to obtain the data to construct the model, we used a tilting
bed to measure a head-to-foot acceleration and BP of fingertip. Based on this data, we build a mathematical
model whose input is the head-to-foot acceleration and output is the Mean BP variation. It is a switched model
which switches two models depending on the jerk. We add baroreceptor reflex to the model as a offset value.
Robotic chair at steep and narrow stairways
Author(s):
Masahiro Imazato;
Masahiro Yamaguchi;
Shunji Moromugi;
Takakazu Ishimatsu
Show Abstract
A robotic chair is developed to support mobility of elderly and disabled people living in the house where steep and
narrow stairways are installed. In order to deal with such mobility problem the developed robotic chair has a compact
original configuration. The robotic chair vertically moves by actuation of electric cylinders and horizontally moves by
push-pull operation given by a care-giver. In order to navigate safely every action of the chair is checked by the operator.
Up-and-down motions of the robotic chair on the stairway are executed through combinations of motor and cylinder
actuations. Performance of the robotic chair was evaluated through two kinds of experiments. The excellent ability of the
robotic chair could be confirmed through these experiments.
A novel feature extracting method of QRS complex classification for mobile ECG signals
Author(s):
Lingyun Zhu;
Dong Wang;
Xianying Huang;
Yue Wang
Show Abstract
The conventional classification parameters of QRS complex suffer from larger activity rang of patients and lower signal
to noise ratio in mobile cardiac telemonitoring system and can not meet the identification needs of ECG signal. Based on
individual sinus heart rhythm template built with mobile ECG signals in time window, we present semblance index to
extract the classification features of QRS complex precisely and expeditiously. Relative approximation r2 and absolute
error r3 are used as estimating parameters of semblance between testing QRS complex and template. The evaluate
parameters corresponding to QRS width and types are demonstrated to choose the proper index. The results show that
99.99 percent of the QRS complex for sinus and superventricular ECG signals can be distinguished through r2 but its
average accurate ratio is only 46.16%. More than 97.84 percent of QRS complexes are identified using r3 but its accurate
ratio to the sinus and superventricular is not better than r2. By the feature parameter of width, only 42.65 percent of
QRS complexes are classified correctly, but its accurate ratio to the ventricular is superior to r2. To combine the
respective superiority of three parameters, a nonlinear weighing computation of QRS width, r2 and r3 is introduced and
the total classification accuracy up to 99.48% by combing indexes.
Analysis and prediction of meal motion by EMG signals
Author(s):
S. Horihata;
H. Iwahara;
K. Yano
Show Abstract
The lack of carers for senior citizens and physically handicapped persons in our country has now become a huge
issue and has created a great need for carer robots. The usual carer robots (many of which have switches or
joysticks for their interfaces), however, are neither easy to use it nor very popular. Therefore, haptic devices have
been adopted for a human-machine interface that will enable an intuitive operation. At this point, a method
is being tested that seeks to prevent a wrong operation from occurring from the user's signals. This method
matches motions with EMG signals.
Meal assistance robot with ultrasonic motor
Author(s):
Yasuhiro Kodani;
Kanya Tanaka;
Yuji Wakasa;
Takuya Akashi;
Masato Oka
Show Abstract
In this paper, we have constructed a robot that help people with disabilities of upper extremities and advanced stage
amyotrophic lateral sclerosis (ALS) patients to eat with their residual abilities. Especially, many of people suffering from
advanced stage ALS of the use a pacemaker. And they need to avoid electromagnetic waves. Therefore we adopt ultra
sonic motor that does not generate electromagnetic waves as driving sources. Additionally we approach the problem of the
conventional meal assistance robot. Moreover, we introduce the interface with eye movement so that extremities can also
use our system. User operates our robot not with hands or foot but with eye movement.
An immuno-biosensor system based on quartz crystal microbalance for avian influenza virus detection
Author(s):
Shengping Liu;
Guoming Chen;
Qi Zhou;
Yunlong Wei
Show Abstract
For the quick detection of Avian Influenza Virus (AIV), a biosensor based on Quartz Crystal Microbalance (QCM) was
fabricated according to the specific bonding principle between antibody and antigen. Staphylococcal Protein A (SPA)
was extracted from Staphylococcus and purified. Then SPA was coated on the surface of QCM for immobilizing AIV
monoclonal antibodies. The use of AIV monoclonal antibody could enhance the specificity of the immuno-biosensor. A
multi-channel piezoelectricity detection system for the immuno-biosensor was developed. The system can work for the
quick detection of AIV antigen in the case of the entirely aqueous status owe to one special oscillating circuit designed in
this work. The optimum conditions of SPA coating and AIV monoclonal antibody immobilization were investigated
utilizing the multi-channel detection system. The preliminary application of the immuno-biosensor system for detection
of AIV was evaluated. Results indicate that the immuno-biosensor system can detect the AIV antigens with a linear range
of 3-200ng/ml. The system can accomplish the detection of AIV antigens around 40 minutes.
Development of rehabilitation training support system for occupational therapy of upper limb motor function
Author(s):
Yoshifumi Morita;
Akinori Hirose;
Takashi Uno;
Masaki Uchid;
Hiroyuki Ukai;
Nobuyuki Matsui
Show Abstract
In this paper we propose a new rehabilitation training support system for upper limbs. The proposed system
enables therapists to quantitatively evaluate the therapeutic effect of upper limb motor function during training,
to easily change the load of resistance of training and to easily develop a new training program suitable for the
subjects. For this purpose we develop control algorithms of training programs in the 3D force display robot.
The 3D force display robot has parallel link mechanism with three motors. The control algorithm simulating
sanding training is developed for the 3D force display robot. Moreover the teaching/training function algorithm
is developed. It enables the therapists to easily make training trajectory suitable for subject's condition. The
effectiveness of the developed control algorithms is verified by experiments.
Visualization of short-term HRV as an index for mental stress evaluation
Author(s):
Feng Wang;
Mami Tanaka;
Seiji Chonan
Show Abstract
This paper proposes a new method for visualization of the Heart Rate Variability (HRV) as a visual presentation for
mental stress evaluation using the Symmetrized Dot Patterns (SDP) presentation. With this method, time series of the R-R
intervals of the electrocardiogram (ECG) are mapped into a polar space and plot out as a scatter plot on the polar graph.
The proposed method is testified with the ECG data of fourteen subjects during the mental work-load experiments.
Mental arithmetic tasks were used for applying mental work load to the subjects. Experimental results show significant
difference of the SDP of the R-R intervals between the mental workload phase and the rest phase, and the difference can
be easily recognized. This fact verifies that the proposed method can serve as a visual presentation for the real-time
evaluation of mental stress.
Estimation of walking trajectory using ankle-mounted sensor
Author(s):
Keita Mishima;
Sagawa Koichi
Show Abstract
Estimation of walking trajectory using ankle-mounted sensor is discussed. The three-dimensional walking distance is
delivered by the integration of the three-dimensional acceleration of ankle during swing phase. Since the sensor system is
attached on the ankle, the acceleration data measured on the ankle include acceleration of gravity that causes inaccurate
calculation of the velocity and the distance. Three gyros are used to compensate the rotation of the sensor system.
Healthy volunteers performed level walk, ascending and descending to verify the proposed method. And the
experimental results showed that the estimation error of the distance in level walk was -6.9 [%] on average and the
estimation errors of the height in ascending and descending were 4.5 [%] and -22.0 [%] on average.
Evaluation of manual test for anterior cruciate ligament injury using a body-mounted sensor
Author(s):
R. Yoshida;
K. Sagawa;
T. Tsukamoto;
Y. Ishibashi
Show Abstract
Diagnosis method of anterior cruciate ligament (ACL) using body-mounted sensor is discussed. A wide variety of
diagnosis method such as Pivot Shift Test (PST), Lachman Test and monitoring of jump motion (JT) are applied to
examine the injured ACL. These methods, however, depend on the ability and the experience of examiner. The proposed
method numerically provides three dimensional translation and rotation of the knee by using a newly developed 3D
sensor. The 3D sensor is composed of three accelerometers and three gyroscopes. Measured acceleration of the knee
during the examination is converted to the fixed system of coordinate according the acceleration of gravity and 3D
rotation of the sensor, and is numerically integrated to derive 3D trajectory and rotation angle around the tibia. The
experimental results of JT suggest that unsymmetrical movement of rotation angle of the tibia and sudden movement of
estimated 3D trajectory show instability of knee joint. From the results of PST analysis, it is observed that the tibial
angular velocity around the flexed position changes 41.6 [deg/s] at the injured side and 21.7 [deg/s] at the intact side.
This result suggests the reposition of injured knee from subluxation.
Study of electrical properties of meridian on human body surface
Author(s):
Feng Wang;
Haruyuki Uematsu;
Nobuo Otani
Show Abstract
This paper presents the study of the subcutaneous electrical impedance on the human body surface. Measurements of the
electrical impedance on five adult male subjects were carried out and analyzed for the possible detection of the
acupuncture meridian lines of ancient Chinese medicine on the human body. The distribution of electrical impedance
measured at 40 points over the volar side of the right upper limb of the subjects. The results show that electrical
impedance varies at different locations of the human body surface, and the locations with lower electrical impedance
coincide with the locations where the meridian is believed to exist.
Ultrasonic phased array sensor for electric travel aids for visually impaired people
Author(s):
Takayuki Takahashi;
Ryosuke Takahashi;
SeongHee Jeong
Show Abstract
An ultrasonic phased array sensor system is developed. The system has high capability on azimuthal resolution
and plural obstacles detection, and is considered as a sensing system of an electric travel aids for visually impaired
people. The developed phased array consists of multiple sound tubes to avoid the grating lobe problem even if
one uses large size of ultrasonic sensor elements. To measure plural obstacles in different direction at one time,
we applied a method that uses coded transmitting pulse trains to the phased array transmitter. The method
reduces the interference between ultrasonic pulses sent out to different directions, and realizes the simultaneous
measurement in multiple directions. Experimental results also shown to verify the performance of the phased
array.
A novel method for SAR image denoising based on HMT in complex wavelet pocket transform domain
Author(s):
He Yan;
Gang Li;
You-jia Fu
Show Abstract
A novel SAR image denoising scheme based on hidden Markov tree (HMT) in the quad-tree complex wavelet packet
transform (QCWPT) domain was presented to achieve the tradeoff between details retainment and noise removal. A
neighborhood coefficient differential window was used to compute intra-scale correlations of complex wavelet
coefficients in high frequency detail subimage, and intra-scale correlational state was identified according to the
smallest error rate Bayesian decision-making rules. A HMT was fitted to describe the correlations between the
complex wavelet coefficients across decomposition scales and mark inter-scale correlational state. The product
results of corresponding positional intra-scale and inter-scale correlational state were looked as a new hidden state
transition probability. A set of iterative equations was developed using the expectation-maximization(EM) algorithm
to estimate the model parameters and produce denoising images. Experimental results show that the proposed
denoising algorithm is superior to the traditional filtering methods and possible to achieve an excellent balance
between suppress speckle noise effectively and preserve as many image details and edges as possible.
Graphics to H.264 video encoding for 3D scene representation and interaction on mobile devices using region of interest
Author(s):
Minh Tuan Le;
Congdu Nguyen;
Dae-Il Yoon;
Eun Ku Jung;
Jie Jia;
Hae-Kwang Kim
Show Abstract
In this paper, we propose a method of 3D graphics to video encoding and streaming that are embedded into a remote
interactive 3D visualization system for rapidly representing a 3D scene on mobile devices without having to download it
from the server. In particular, a 3D graphics to video framework is presented that increases the visual quality of regions
of interest (ROI) of the video by performing more bit allocation to ROI during H.264 video encoding. The ROI are
identified by projection 3D objects to a 2D plane during rasterization. The system offers users to navigate the 3D scene
and interact with objects of interests for querying their descriptions. We developed an adaptive media streaming server
that can provide an adaptive video stream in term of object-based quality to the client according to the user's preferences
and the variation of network bandwidth. Results show that by doing ROI mode selection, PSNR of test sample slightly
change while visual quality of objects increases evidently.
Optimizing scheduling problem using an estimation of distribution algorithm and genetic algorithm
Author(s):
Jiang Qun;
Ou Yang;
Shi-Du Dong
Show Abstract
This paper presents a methodology for using heuristic search methods to optimize scheduling problem. Specifically, an
Estimation of Distribution Algorithm (EDA)- Population Based Incremental Learning (PBIL), and Genetic Algorithm (GA)
have been applied to finding effective arrangement of curriculum schedule of Universities. To our knowledge, EDAs have
been applied to fewer real world problems compared to GAs, and the goal of the present paper is to expand the application
domain of this technique. The experimental results indicate a good applicability of PBIL to optimize scheduling problem.
Research on risk evaluation arithmetic based on modularization model
Author(s):
Yiliang Liu;
Lily Wei
Show Abstract
The analytic hierarchy process is an important quantizing evaluation model approach for risk evaluation, but it also exist
some variable to make quantize difficult and the calculation amount increase with the complex degree of system become
more deeply. The fuzzy synthesis judgment introduces the fuzzy concept into the risk evaluation, solves the problem of
difficult to quantize of risk evaluation in some degree, but it is not enough intuitive for evaluating result corresponding to
the subsystem, and lack of guidance meaning for structure designing and maintaining the actual system security. The
paper introduces M-REM (modularization based risk evaluation model) method. It breaks up the large system into
several modules, and every model has corresponding evaluation entities. Model risk is obtained by computing the risk of
evaluation entity and expert marking method, agglomeration analysis method, entropy method and weight average
method are applied to resolve the important variable (weight) when computing risk. According to realization of the
weight arithmetic of important factors and the analysis of evaluation result, M-REM could efficiently exert delaminating
and parallel of the layered model method and implement the instructing effect on safe structure designing and
maintaining for actual system.
Research on a dynamic workflow access control model
Author(s):
Yiliang Liu;
Jinxia Deng
Show Abstract
In recent years, the access control technology has been researched widely in workflow system, two typical technologies of
that are RBAC (Role-Based Access Control) and TBAC (Task-Based Access Control) model, which has been successfully
used in the role authorizing and assigning in a certain extent. However, during the process of complicating a system's
structure, these two types of technology can not be used in minimizing privileges and separating duties, and they are
inapplicable when users have a request of frequently changing on the workflow's process. In order to avoid having these
weakness during the applying, a variable flow dynamic role_task_view (briefly as DRTVBAC) of fine-grained access control
model is constructed on the basis existed model. During the process of this model applying, an algorithm is constructed to
solve users' requirements of application and security needs on fine-grained principle of privileges minimum and principle of
dynamic separation of duties. The DRTVBAC model is implemented in the actual system, the figure shows that the task
associated with the dynamic management of role and the role assignment is more flexible on authority and recovery, it can be
met the principle of least privilege on the role implement of a specific task permission activated; separated the authority from
the process of the duties completing in the workflow; prevented sensitive information discovering from concise and dynamic
view interface; satisfied with the requirement of the variable task-flow frequently.
A graphics to scalable vector graphics adaptation framework for progressive remote line rendering on mobile devices
Author(s):
Minh Tuan Le;
Congdu Nguyen;
Dae-Il Yoon;
Eun Ku Jung;
Hae-Kwang Kim
Show Abstract
In this paper, we introduce a graphics to Scalable Vector Graphics (SVG) adaptation framework with a mechanism of
vector graphics transmission to overcome the shortcoming of real-time representation and interaction experiences of 3D
graphics application running on mobile devices. We therefore develop an interactive 3D visualization system based on
the proposed framework for rapidly representing a 3D scene on mobile devices without having to download it from the
server. Our system scenario is composed of a client viewer and a graphic to SVG adaptation server. The client viewer
offers the user to access to the same 3D contents with different devices according to consumer interactions.
Automatic moving object extraction algorithm using histogram mapping and local watershed techniques for shadow effect
Author(s):
Hong-Yeon Yu;
Min-Sung Kim;
Do-Young Jun;
Chang-Hyun Kim;
Sung-Hoon Hong
Show Abstract
Background subtraction method is a typical technique used for real-time extraction of moving objects in video sequences.
In this paper, we propose an efficient moving object extraction algorithm which is suitable for digital video monitoring
applications. The proposed algorithm combines the histogram modification and the local watershed techniques. The
present background image is estimated by sing the histogram modification table which maps the original background
image to the present on. Then, the moving object region is extracted by background subtraction. Finally, the local
watershed segmentation and hierarchical queue based region merging are applied on the uncertain region of moving
object mask instead of whole image region, which can decrease processing time. Also proposed method is robust to both
noise and intensity changes in the present input image. The proposed method is evaluated for real-time sequences and
produces promising results.
An improved inverted index model and its retrieval algorithm
Author(s):
Chaotao Liu;
Zushu Li
Show Abstract
The traditional inverted index scheme has some deficiencies owing to its only covering the word terms' frequency and
positions in documents, but not covering the space sequences of the word terms in the documents' structures. This paper
developed an improved inverted index scheme, which combined the paragraph sequences, sentence sequences and word
sequences as a list to replace the posting list in the traditional inverted index. And the algorithm of similarity calculation
and text retrieval based on this improved inverted index scheme was given. The similarity is the result of the traditional
similarity multiplying paragraph sequence similarity coefficient, sentence sequence similarity coefficient, and words
sequence similarity coefficient, which can denote as SimNew(D,Q) = Sim(D,Q) * CeofP * CeofS * CeofW. By
calculating similarity, the documents can be ranked as retrieval results. As an experiment, some documents selected
from the search results of Google was reranked by similarity calculated with this algorithm. The result of the experiment
shows that this algorithm is helpful for users to retrieve information which can match the users' queries much more.
A blind watermarking using data matrix and changing coefficients in wavelet domain
Author(s):
Jong Sam Park;
Boo Hee Nam
Show Abstract
In this paper, we propose a blind watermarking using the Discrete Wavelet Transform (DWT) technique. We have
shown a robustness in several attacks by inserting the watermark in the frequency domain instead of spatial domain in
the image. Also, we can extract watermark without the original image using this blind watermarking. An original image
is transformed into the 4 sub-band areas (HH, HL, LH, LL) by the DWT. We select the two sub-band areas (HL, LH) for
watermarking, except for the low-low (LL, HH) sub-band area. For watermarking, a watermark is encrypted by an
encryption key, and it holds a certain value of two sub-bands, which is selected according to the value of watermark that
we want to insert or change. And we insert watermark to the image. For extraction, a watermarked image is transformed
by DWT, we compare the coefficient values of two sub-bands used in inserting watermarking, we extract the encrypted
watermark, and we reconstruct the watermark by the encryption key. We apply the proposed method to the data matrix
that is a two-dimension bar-code. For error detection code and error correction code, we use the ECC 200. For the JPEG
image with the watermark, we could get the better PSNR(Peak Signal to Noise Ratio) and NC(Normalized Correlation)
for the performance evaluation.
A MinMax spatial clustering algorithm under the complex geography environment
Author(s):
Maoyun Guo;
Zhifen Zhang;
Youqiang Hu;
Jianfeng Qu;
Yi Chai
Show Abstract
The spatial clustering analysis of geographic entities under the complex geography environment is significant, such as
nature resources analyzing, the public facilities location, the districts adjustment and epidemic prevention. The clustering
center which is got from the clustering analyzing can be choice for the public facilities such as schools, hospitals and so
on. And also such center can be the source of the epidemic, which supports to prevent the epidemic. The MinMax
clustering algorithm based on the euclidian distance. But under complex geography environment such including rivers,
mountains and so on, the euclidian distance can not reflect the relationship between one entities and the other. So with
the analysis of the influence of road, river and the mountains to distance between the entities, the paper introduces the
factors that reflects the geography environment, and improves the MinMax clustering algorithm. And the paper carries
out a clustering experiment whose result shows that the improved MinMax clustering algorithm is better than the basic
one.
A component-labeling algorithm based on contour tracing
Author(s):
Liudong Qiu;
Zushu Li
Show Abstract
A new method for finding connected components from binary images is presented in this paper. The main step of this
method is to use a contour tracing technique to detect component contours, and use the information of contour to fill in
interior areas. All the component points are traced by this algorithm in a single pass and are assigned either a new label
or the same label of the contour pixels. Comparative experiment results show that Our algorithm, moreover, is a fast
method that not only labels components but also extracts component contours at the same time, which proves to be more
useful than those algorithms that only label components.
An effective method of designing an intelligent phone based on FSM and Petri-net
Author(s):
Xian-ying Huang;
Ke-ke Wang;
Qiong Cao
Show Abstract
Embedded system has very closely relations with certain hardware; its functions are implemented by two or more
tasks working together concurrently. Therefore, the key of multitask system development is how to divide the
application system into several tasks reasonably and design the cooperation flow of multitasks in detail as well as
the logic flow within the task. The detailed process in analyzing mobile phone is described in this paper.
Finite state machine (FSM) and Petri net are the ideal tools for analyzing and designing multi-task system. It
performs well in expressing the features of multitask system, which are cooperation, concurrence and
synchronization. The process of analyzing and designing mobile phone using FSM and Petri-net are explained in
detail in this paper, and some implementation issues are also discussed.
The roles of information technology in global chain supply: a multiple case study of multinational companies of China
Author(s):
Mao He;
Wanchun Duan
Show Abstract
Nowadays many Chinese companies have being becoming more and more international. Therefore, these Chinese
companies have to face global supply chains rather than the former domestic ones. The use of information technology
(IT) is considered a prerequisite for the effective control of today's complex global supply chains. Based on empirical
data from 10 multinational companies of China, this paper presents a classification of the ways in which companies use
IT in SCM, and examines the drivers for these different utilization types. According to the findings of this research, the
purposes of using of IT in SCM can be divided into 1) transaction processing, 2) supply chain planning and collaboration,
and 3) order tracking and delivery coordination. The findings further suggest that the drivers between these three uses of
IT in SCM differ.
Particle swarm optimizer with adaptive species radius for multimodal function optimization
Author(s):
Yu Liu;
Zheng Qin;
Yanyan Li
Show Abstract
Based on species-PSO, this paper proposes an adaptive species radius strategy for multimodal function optimization.
In species-PSO, The radius of the species is a very important parameter, which determines the success and
failure of the algorithm. However, the value of the radius extremely depends on the corresponding optimization
problems. The task of choosing an appropriate radius is difficult for users. We define stability of the species
to denote the search ability for every species. According to stability of species and the number of members in
species, the radius of the species is adjusted adaptively. The experimental results show that adaptive species
radius strategy makes species-PSO could handle a wide range of optimization problems without user intervention
and achieve good performance for multimodal function optimization.
An efficient temporal database design method based on EER
Author(s):
Zhi Liu;
Jiping Huang;
Hua Miao
Show Abstract
Many existing methods of modeling temporal information are based on logical model, which makes relational schema
optimization more difficult and more complicated. In this paper, based on the conventional EER model, the author
attempts to analyse and abstract temporal information in the phase of conceptual modelling according to the concrete
requirement to history information. Then a temporal data model named BTEER is presented. BTEER not only retains all
designing ideas and methods of EER which makes BTEER have good upward compatibility, but also supports the
modelling of valid time and transaction time effectively at the same time. In addition, BTEER can be transformed to
EER easily and automatically. It proves in practice, this method can model the temporal information well.
Counting passing people with different movement ways in horizontal view
Author(s):
Y. Terada;
F. Saitoh
Show Abstract
Counting of passing people in passage or corridor is considered important for security or various investigations. This
paper proposes a method for automatic counting of moving people with the different movement ways in the horizontal
view. Each gravitational center of motion detection blocks is plotted in the plotting space, and the movement of people
can be detected by Hough Transform without motion tracking. The intercept and the slope of a detected line represent the
starting time when a person came into the scene and the moving speed of the target. The movement ways also can be
recognized by using the difference of moving speed of detected persons. The experimental results showed that reliable
detection and counting of passing people were realized by the proposed method.
Using ant colony optimization for efficient clustering
Author(s):
Yong Wang;
Wei Zhang;
Jun Chen;
Jianfu Li;
Li Xiao
Show Abstract
To improve the performance of data clustering, this study proposes a novel clustering method called ABCA (ACO Based
Clustering Algorithm). The presented method is based on heuristic concept and using Ant Colony Optimization
algorithm (ACO) to obtain global search. The main advantage of these algorithms lies in the fact that no additional
information, such as an initial partitioning of the data or the number of clusters, is needed. Since the proposed method is
very efficiently, thus it can perform data clustering very quickly.
Quantum clustering algorithm and its application in warning forecast of tourism emergency
Author(s):
Ruijie Wang;
Junping Du;
Min Zuo;
Xuyan Tu
Show Abstract
In this paper, we combine quantum computation and clustering algorithm in data mining. In this algorithm, we give the
suppose that around the clustering centers exits a potential field, in Hilbert space, we get the potential energy function
through Schrödinger equation. We use this as rules to assign element to clusters. Finally, through the simulative
experiment, we validated its validity and feasibility while applied in data mining of tourism emergency.
A framework of simulator for the automation control system software
Author(s):
Taige Wang;
Chunmeng Liu
Show Abstract
Automation Control System (ACS) software has to be developed under simulation environment so many times because
the complex real environment is unavailable to obtain due to various factors such as cost, proprietary technology and
time. To simplify the testing, we develop a framework that composes of interface rules, procedures calling mechanisms
and test cases management system. The framework will help to create the testing simulator for the ACS software easier
and faster while minimizing the possible errors. There are some assumptions needed to be met before the framework can
be applied to the ACS software development situation. It also provides the testing simulator a standard way to record the
testing data, results and debugging information. The framework itself is developed based upon XML technology which
can be parsed by many tools easily. After the ACS software is developed, it will be tested basing on the test cases during
the software implementation phrase, integration phrase and deployed phrase. Furthermore, the drawbacks for the
framework applications will be discussed while the valuable suggestions provided. At last, a simplified example of oil
refinery control system software will be illustrated how the framework be used, the rules how to be set and followed.
Using novel support vector machines for efficient classification
Author(s):
Yong Wang;
Wei Zhang;
Jun Chen;
Li Xiao;
Jianfu Li
Show Abstract
An Improved Support Vector Machines was proposed which starts with a small set and then sequentially expands to
include feature space informative data points into the set. These feature space informative data points will be identified
by solving a small least squares problem. The approach provides a mechanism to determine the set size automatically
and dynamically and the set generated by this method will be more representative than the one by purely random
selection. All advantages of SVM for dealing with nonlinear classification problem are retained.
A location method for vehicle license plate based on color image and black-white texture
Author(s):
Gang Li;
Chang Liu;
Mingquan He;
Xiyue Huang
Show Abstract
This paper presents an effective location algorithm employing color features and black-white texture analysis of the
image to extract a vehicle license plate from a complicated background image. According to the background color of the
license plate in RGB spaces, we transform the RGB image into a grayscale image as strengthening the color of the
license plate, and partition the intensity image to obtain a binary image which can outstand the license plate part. We
leach away the color which is similar to the license plate by analyzing the texture characteristic. The test shows that this
location method can hardly be influenced by all of the factors including illumination, license plate position, license plate
size, license plate angle, car position, image background and so on. Meanwhile, it can gain a high speed, better effects
and a wide application area.
Cognitive load reducing in destination decision system
Author(s):
Chunhua Wu;
Cong Wang;
Qien Jiang;
Jian Wang;
Hong Chen
Show Abstract
With limited cognitive resource, the quantity of information can be processed by a person is limited. If the limitation is
broken, the whole cognitive process would be affected, so did the final decision. The research of effective ways to reduce
the cognitive load is launched from two aspects: cutting down the number of alternatives and directing the user to
allocate his limited attention resource based on the selective visual attention theory. Decision-making is such a complex
process that people usually have difficulties to express their requirements completely. An effective method to get user's
hidden requirements is put forward in this paper. With more requirements be caught, the destination decision system can
filtering more quantity of inappropriate alternatives. Different information piece has different utility, if the information
with high utility would get attention easily, the decision might be made more easily. After analyzing the current selective
visual attention theory, a new presentation style based on user's visual attention also put forward in this paper. This
model arranges information presentation according to the movement of sightline. Through visual attention, the user can
put their limited attention resource on the important information. Hidden requirements catching and presenting
information based on the selective visual attention are effective ways to reducing the cognitive load.
Image template matching based on ratio of mean and central pixel in local area
Author(s):
M. Moritani;
F. Saitoh
Show Abstract
This paper proposes a template matching method (RMCM: Ratio of Mean and Central pixel's residual sum Matching),
which is based on a residual sum of ratio of mean in local area and its central pixel's gray-level in a template image. In
the method, the ratio of mean and its central pixel's are registered in a local area whose center is every pixel in a template
image. The target image area is searched from the matching ratio, which is obtained by residual sum between target
image and template image whose correlation has been registered. The experimental results show that the proposed
method had equal or better robustness to the inferior factors of objective images in comparison with the two typical
conventional template matching methods.
Study on softman for mining tourism information
Author(s):
Yipeng Zhou;
Junping Du;
Min Zuo;
Xuyan Tu
Show Abstract
To mine useful tourism events' knowledge from different data sources distributed on Internet, we design a kind of data
mining "Softman" which is based on quantum computing and artificial immune system. The thinking state of softman is
encoded as quantum-bits (qubits). Its advantage is that the qubit linear superposition can represent the probability of
softman taking action according to its thinking state, so it is consistent with the way of human. Then we apply quantuminspired
immune clone algorithm to the thinking state evolution of softman, which utilizes immune learning and clonal
selection to improve softman's learning ability. A multi-softmen organization can be used to do parallel data mining.
And some organizations can also be applied on several data sources to implement distributed data mining.
The technology of remote data acquisition based on SMS
Author(s):
Xiuyan Ju;
Yunlong Wei
Show Abstract
In order to make it convenient and useful for data acquisition in industry field (IF), in the thesis a wireless transmitting
method is presented combing CDMA module with wireless transmitting-receiving module PTR8000. The system can be
widely applied in remote monitoring domain, such as environment, hydrology, biological info acquisition, and wireless
instruments reading, safety anti-fire system, wireless telecontrol system.
Discrete time modeling and stability analysis of TCP Vegas
Author(s):
Byungyong You;
Kyungmo Koo;
Jin S. Lee
Show Abstract
This paper presents an analysis method for TCP Vegas network model with single link and single source. Some papers
showed global stability of several network models, but those models are not a dual problem where dynamics both exist in
sources and links such as TCP Vegas. Other papers studied TCP Vegas as a dual problem, but it did not fully derive an
asymptotic stability region. Therefore we analyze TCP Vegas with Jury's criterion which is necessary and sufficient
condition. So we use state space model in discrete time and by using Jury's criterion, we could find an asymptotic
stability region of TCP Vegas network model. This result is verified by ns-2 simulation. And by comparing with other
results, we could know our method performed well.
ZigBee device management system using web gateway
Author(s):
Yongsoon Choi;
Seonghoon Kim;
Hong-Seong Park
Show Abstract
ZigBee technology that is observed to radio network of low electric power with latest WPAN's IEEE 802.15.4
technologies is evaluated as best technology for sensor network and digital home network construction. These fields
require using application for monitoring, managing, controlling and organizing these nodes. However, these programs
have a weakness that is hard to construct flexible system with Internet. This paper will use web server linked with
gateway to manage sensor network that is consisted of ZigBee node and design system that manages ZigBee device with
relative fast responsibility using AJAX web technology.
Design of SIP device cooperation system on OSGi service platforms
Author(s):
Youji Takayama;
Takahiro Koita;
Kenya Sato
Show Abstract
Home networks feature such various technologies as protocols, specifications, and middleware, including HTTP, UPnP,
and Jini. A service platform is required to handle such technologies to enable them to cooperate with different devices.
The OSGi service platform, which meets the requirements based on service-oriented architecture, is designed and
standardized by OSGi Alliance and consists of two parts: one OSGi Framework and bundles. On the OSGi service
platform, APIs are defined as services that can handle these technologies and are implemented in the bundle. By using
the OSGi Framework with bundles, various technologies can cooperate with each other.
On the other hand, in IP networks, Session Initiation Protocol (SIP) is often used in device cooperation services to
resolve an IP address, control a session between two or more devices, and easily exchange the statuses of devices.
However, since many existing devices do not correspond to SIP, it cannot be used for device cooperation services. A
device that does not correspond to SIP is called an unSIP device. This paper proposes and implements a prototype
system that enables unSIP devices to correspond to SIP. For unSIP devices, the proposed system provides device
cooperation services with SIP.
Improving wireless/wire network performance using TCP/IP
Author(s):
S. P. Balakannan;
B. Karthik;
Chang-hui Choe;
Moon Ho Lee
Show Abstract
Support of voice and data applications over networks comprising of an integrated wireless and wire users is of an
increasing importance in future technologies of unified networks. Unified networks are integrated wireless and wire
networks with Wire, Wireless, Mobile, Multimedia and Satellite applications. Most data applications on wire networks
use TCP/IP as an end-to-end flow and congestion avoidance protocol. Standard TCP reacts to packet loss due to RF link
fading as congestion and consequently suffers from throughput degradations in pure wireless networks. The main
contribution of this paper is how to obtain the maximum achievable throughput for integrated wireless and wire
networks. Numerical result shows that if the packet loss due to fading is filtered out, the maximum achievable
throughput for wireless/wire network is within 10% of the throughput of a pure wire network. There is a need for
modified TCP protocol or a new TCP protocol that can provide reliable data transfer and maximum allowable throughput
for an integrated wireless and wire networks. New or modified TCP protocols for wireless/wire integrated networks
should aim at achieving for exceeding this throughput.
Transparent UPnP interactions over global network
Author(s):
Masahiro Ogawa;
Hiroshi Hayakawa;
Takahiro Koita;
Kenya Sato
Show Abstract
Universal Plug and Play (UPnP) 1 has been proposed by Microsoft for realization of interactions among home appliances
(e.g., TVs, air conditioners, and lighting devices) and information devices (e.g., PCs and PDAs) on a home local network.
UPnP assumes to be used on a local network. Difficulties exist when establishing a communication link between two
local networks across the Internet. In this paper, we propose a new device interaction method across the Internet with
web service technology. We implement prototype system and make evaluation about latency.
Development of an internet-based water-level monitoring and measuring system using CCD camera
Author(s):
Iksang Shin;
Jaejun Kim;
Soon-Guel Lee
Show Abstract
These days, most weather disasters like heavy snowfall and rainfall have been caused all over the world due to
environmental pollutions reason. Casualties and property damage are caused by these weather disasters. Therefore it is
important to detect the hazardous conditions and protect human life and property. These damages may be decreased by
continually monitoring water level in the potential flood places with this system and warm the risk. An internet-based
water level monitoring and measuring system (WLMMS) is developed, which analyzes the visual image of the surface of
water and measures the height of it. The system aims to measure water-level in potential areas to overflow like rivers,
bridges and dams. This is installed to indicate the target such as bridges of a river, reservoir water, a dam and coast. In
this paper we introduce WLMMS and there is achieved template matching by correlation to detect water-level with
images captured from CCD camera. Finally experiments demonstrate that water level is accurately measured with the
proposed method by this system.
Research on data receiving and delivering in networks with long delays
Author(s):
Lei Liu;
Hong Jiang
Show Abstract
An ad-hoc network is formed by a group of mobile hosts upon a wireless network interface. In the sparse mobile ad-hoc
networks (SMANET), continuous end-to-end path between source and destination nodes, precedent condition of the
traditional communication technology, may never exist. The disconnected or discontinuously connected networks and
high link error rates pose a new set of challenges. The usual way to deal with this problem is to let the mobile computer
wait for network reconnection passively, which may lead to unacceptable transmission delays. Although long range
communication can be used to establish the link between nodes, it leads to rapid draining of nodes' limited batteries. In
this paper, a kind of improved message relaying approach is proposed. Besides the function of route discovering, this
approach is designed to realize data receiving and delivering (DRD) in networks with long delays. The data are stored
and forwarded by the node chosen in the "node-choosing" procedure. With the help of the nodes' mobility, data can be
relayed hop by hop from the source node (SN) to the destination node (DN). Consequently, the source node and the
destination node can communicate to each other indirectly. It is believed that this scheme is useful for applications that
require urgent message delivery and collect data in wild regions, such as emergency relief or field operations.
Maintaining communication link based on AODV routing protocol in mobile robot networks
Author(s):
Hui Hu;
Hong Jiang
Show Abstract
Wired computer networks are vital in modern life. However, these networks are extremely vulnerable to disaster or
attack in emergency situations. Therefore, how to maintain communication link under emergency situations is very
important. In this paper, we utilize a series of autonomous mobile slave robots which follow behind the lead robot and
automatically stop where needed to maintain an ad hoc network for guaranteeing a link between the lead robot and its
remote monitor/control station. To accomplish this target, an efficient communication protocol limitation mobile robots
broadcast based on AODV (LMRB-AODV) is proposed for deployment in multi-robot system. After then the lead robot
could carry service traffics to the monitor station under emergency situations through the communication link. At any
instance, the lead robot has the ability to reclaim the relay robot(s) which are unneeded in the network to rejoin the
convoy behind the lead robot and use it to extend the range of wireless communication when the radio frequency (RF)
shortcuts are detected by the lead robot. All relay deployment and reclaiming strategy functions occur without the
operator's involvement. Finally, we provide a comparative study of their performance in a number of different
simulation environments. The results show that the proposed scheme is very efficient in maintaining communication link
in wireless network.
A hierarchical wireless sensor network model for structural monitoring system
Author(s):
Jianjun Niu;
Zhidong Deng
Show Abstract
Based on the technology of wireless sensor networks, topology planning of a large building structural monitoring system
is investigated in this paper. A three-level transmission power model and two constrained premise are built up to form a
clustering hierarchy based routing model for low delay and high data rate demands. Aim to minimize total power
consumption of the whole system, particle swarm optimization (PSO) algorithm is applied to optimize the power level of
each nodes. This optimized topology approach is important to design a more permanent wireless sensor network for
structural monitoring system in the initial stage.
Analysis of data reliability and stability in HR-SDN communication module
Author(s):
Dong-Hee Choi;
Jin-Chul Shin;
Hong-Seong Park
Show Abstract
Profibus is open industrial communication system for wide range of applications in manufacturing and process
automation. In Profibus, FDL service use to need hard real-time system. In these systems required data reliability and
stability and real-time feature. Profibus fieldbus networks used in many industrial fields because of it supports real-time
industrial communication. So we analyze of data reliability and stabilization in profibus network. In this paper, there was
to a station for communication which uses FDL from in the communication module which is used a data transfer
possibility at once, and from communication period (ex. 10ms) it analyzed the system effect which it follows in
transmission lag occurrence element and a data transfer error ratio it analyzed. Like this analytical result it led and there
were from transmission for reliability and data stability they confirmed to HR-SDN communication modules and a
guarantee yes or no. In this paper, we try to analysis of transmission delay ability for satisfaction data reliability and
stability in specific system, which requested real-time feature. And, we analysis system reconstruction time and data
delay time according to data/token packet loss. Packet-error occur physical layer in Profibus. As a result of above
analysis, we propose method of enhancement of reliability in system which requested system reliability and stability.
And, we confirm proposed method.
Embedded control system for computerized franking machine
Author(s):
W. M. Shi;
L. B. Zhang;
F. Xu;
H. W. Zhan
Show Abstract
This paper presents a novel control system for franking machine. A methodology for operating a franking machine using
the functional controls consisting of connection, configuration and franking electromechanical drive is studied. A set of
enabling technologies to synthesize postage management software architectures driven microprocessor-based embedded
systems is proposed. The cryptographic algorithm that calculates mail items is analyzed to enhance the postal indicia
accountability and security. The study indicated that the franking machine is reliability, performance and flexibility in
printing mail items.
Generating trajectories on road networks
Author(s):
Ji-Haeng Baek;
Jung-Im Won;
Min-Hee Jang;
Sang-Chul Lee;
Yong-Suk Kwon;
Young-Joo Do;
Duck-Ho Bae;
Sang-Wook Kim;
Sung-Hyun Shin
Show Abstract
Recently, researches are being in progress using the trajectories of moving objects. Most researches usually used data
generated by trajectory generators since it is difficult to obtain a trajectory data set of moving objects in real world. Most
previous trajectory generators created trajectories of objects moving over Euclidean space, and therefore they can not be
directly applied to road network environment. In this paper, we propose a method for generating trajectories of objects
moving over road networks. To generate trajectories, we consider the most important characteristic of network-based
moving objects that in real world most objects move on given networks with the shortest path from a starting point to a
destination. The trajectory data set of moving objects which is generated by the proposed method can be used in various
applications such as location-based services since it reflects the user's driving preference on real network environments.
Development of a GA-based packing planning system for on-site logistics
Author(s):
Akihiro Mizoe;
Michiko Watanabe;
Masashi Furukawa
Show Abstract
A recent tendency has been to suppress excessive capital investment in logistics centers. There have been many cases
where computer-based logistics systems have been introduced in parallel with new equipment to handle the control of
such equipment, as well as the unified processing of shipping, loading, unloading, and inventory management, etc.
However, capital investment has recently been minimized and the introduction of computer-based management systems
which retain tasks that may be achieved using manpower has not been unusual. The requirements on such systems to
control equipment optimally are reduced, but the need has arisen for computer-based systems to assist the smooth
operation of tasks performed using manpower. In this research, genetic algorithms (GAs) are applied to the design of
plans for shipment packing, loading and dispatch occurring at logistics centers. A system supporting decision-making by
workers through the design and presentation of efficient plans was formulated and implemented.
Efficient generation of dimpled surface using milling process
Author(s):
Shinichi Kogusu;
Takakazu Ishimatsu;
Yasuhiko Ougiya
Show Abstract
Metal surfaces can be decorated with tiny dimples to have various geometries over the metal surface. A conventional
milling technique is often employed to generate desired dimples over the target surface. However, the technique requires
a lot of milling time. A new technique to generate dimples using the milling was developed by authors, where the endmilling
tool is operated only in the horizontal direction with the significantly high feed rate while the depth of cut is kept
a significantly low value. In this paper, a new simplified algorithm to estimate the geometry of dimples is proposed. In
addition, a technique to obtain the milling condition to generate the desired dimples is proposed. The technique was
applicable to generate sub-millimeter size dimples.
Container crane system using an anti-sway controller with an image sensor
Author(s):
H. Kawai;
S. Tanaka;
Y. Choi;
Y.-B. Kim;
Y. Kubota
Show Abstract
Speedy operation efficiency is constantly required of the container crane operators who work for cargo handling in the
port. They are experts in suppressing the sway motion which is generated in the process of the handling. This undesirable
motion may deteriorate the operation efficiency due to strained nerves of the operator. To overcome this problem, we
propose an anti-sway controller with an image sensor for a container crane. The image sensor measures the displacement
of the spreader. Especially, the measured displacement is in real time fed back to the controller. The image processing
technique here is a kind of robust template matching method, named Vector Code Correlation (VCC), devised to
consider the conditions of real environments. The anti-sway controller is installed on the spreader. The controller has a
role to suppress the sway motion of the spreader, as soon as possible. We employ the simple mechanism, so that it can be
easily applicable to an existing system. The details and performance of the container crane system is introduced together
with the experimental results performed with the model system. In this paper, we will also show that the system has the
sufficient efficiency and accuracy for the use on practical job-site.
Intelligent harmonic load model based on neural networks
Author(s):
Pyeong-Shik Ji;
Dae-Jong Lee;
Jong-Pil Lee;
Jae-Won Park;
Jae-Yoon Lim
Show Abstract
In this study, we developed a RBFNs(Radial Basis Function Networks) based load modeling method with harmonic
components. The developed method implemented by using harmonic information as well as fundamental frequency and
voltage which are essential input factors in conventional method. Thus, the proposed method makes it possible to
effectively estimate load characteristics in power lines with harmonics. The RBFNs have certain advantage such as
simple structure and rapid computation ability compared with multilayer perceptron which is extensively applied for load
modeling. To show the effectiveness, the proposed method has been intensively tested with various dataset acquired
under the different frequency and voltage and compared it with conventional methods such as polynominal 2nd equation
method, MLP and RBF without considering harmonic components.
Implementation of neural network hardware based on a floating point operation in an FPGA
Author(s):
Jeong-Seob Kim;
Seul Jung
Show Abstract
This paper presents a hardware design and implementation of the radial basis function (RBF) neural network (NN) by the
hardware description language. Due to its nonlinear characteristics, it is very difficult to implement for a system with
integer-based operation. To develop nonlinear functions such sigmoid functions or exponential functions, floating point
operations are required. The exponential function is designed based on the 32bit single-precision floating-point format.
In addition, to update weights in the network, the back-propagation algorithm is also implemented in the hardware. Most
operations are performed in the floating-point based arithmetic unit and accomplished sequentially by the instruction
order stored in ROM. The NN is implemented and tested on the Altera FPGA "Cyclone2 EP2C70F672C8" for nonlinear
classifications.
Application on vibration control of rotor system with a kind of SMA model
Author(s):
Zhi-Wen Zhu;
Hong-Li Wang;
Jia Xu
Show Abstract
In this paper, a new kind of Shape Memory Alloy model was founded and applied in vibration control of rotor system
with SMA bearing. The idea of hysteretic cycle was introduced to interpret the nonlinear hysteretic phenomenon of SMA.
Subsection function was replaced by continuous function to describe the relationship among strain, stress and
temperature of SMA. Constant parameters of SMA model were substituted by parameters varied with strain and stress to
adapt the change of strain-stress curve in the course of loading and unloading. Arctangent function was introduced to
describe the varying course of SMA stiffness with temperature. Based on above, a new kind of SMA
strain-stress-temperature model was set up, and the stability and the bifurcation characteristic of rotor system with SMA
bearing was analyzed. The new SMA model broadens the region of controlling temperature, admits the existence of
control error, and is easy to be analyzed in theory, which can brings many advantages to vibration control.
Application of ANN load model for transient stability analysis
Author(s):
Jong-Pil Lee;
Dae-Jong Lee;
Sung-Soo Kim;
Jae-Won Park;
Jae-Yoon Lim;
Pyeong-Shik Ji
Show Abstract
Precise load modeling is an essential factor in the simulation and evaluation of power system performance. However,
conventional load modeling techniques have some limitations with respect to accuracy for nonlinear and composite loads.
Thus, an intelligent load modeling method based on neural network and application technique for transient stability
analysis are proposed in this research. ANN with Levenberg-Marquardt back-propagation learning rule was used for
load modeling. The constructed ANN models are used to transient stability analysis. Voltage and frequency calculated
by stability process are used for input of ANN load model and output of ANN load model are inputted to stability
process. Validity of proposed method is verified through case studies.
The method of performance advancement using modified neural network for test algorithm of semiconductor packages
Author(s):
Chang-Hyun Kim;
Hong-Yeon Yu;
Sung-Hoon Hong
Show Abstract
The classification of defects in semiconductor packages was performed by the pattern recognition technology with
modified neural network is based on image processing. The pattern recognition algorithm is composed of image
processing and modified backpropagation neural network. Image processing is preprocessing method for dimensionality
reduction that is input data of backpropagation neural network. And image processing is simply made of image
equalization and binary image conversion and edge detection for reducing operation time. And most of algorithm of
backpropagation neural network is generally used uniform train weight, but the algorithm in this research is applied to
variously subdivided train weights of backpropagation neural network based on types of semiconductor packages
according to kinds of defects. Through above processes, we obtained advanced result of pattern recognition about defects
in semiconductor packages.
Study on key technologies of numerical control turning simulation based on STEP-NC
Author(s):
Xiusheng Chen;
Chengrui Zhang;
Riliang Liu;
Hongbo Lan
Show Abstract
This paper presents a simulation system of intelligent STEP-NC Turning controller. Architecture of the STEP-NC turning
simulation system was presented. Some key technologies to implement the simulation system including cutting force
modeling, vibration modeling and surface roughness modeling were described in detail. Furthermore, graphic user
interface (GUI) was developed to input the simulation parameters and output the simulation results. Simulating with the
developed simulation models, some important conclusions were obtained. As a result, the numerical control simulation
system based on STEP-NC provides a critical module to aid STEP-NC controller intelligently controlling the turning
machining process.
A prototype of behavior selection mechanism based on emotion
Author(s):
Guofeng Zhang;
Zushu Li
Show Abstract
In bionic methodology rather than in design methodology more familiar with, summarizing the psychological
researches of emotion, we propose the biologic mechanism of emotion, emotion selection role in creature evolution and
a anima framework including emotion similar to the classical control structure; and consulting Prospect Theory, build an
Emotion Characteristic Functions(ECF) that computer emotion; two more emotion theories are added to them that higher
emotion is preferred and middle emotion makes brain run more efficiently, emotional behavior mechanism comes into
being. A simulation of proposed mechanism are designed and carried out on Alife Swarm software platform. In this
simulation, a virtual grassland ecosystem is achieved where there are two kinds of artificial animals: herbivore and
preyer. These artificial animals execute four types of behavior: wandering, escaping, finding food, finding sex partner in
their lives. According the theories of animal ethnology, escaping from preyer is prior to other behaviors for its existence,
finding food is secondly important behavior, rating is third one and wandering is last behavior. In keeping this behavior
order, based on our behavior characteristic function theory, the specific functions of emotion computing are built of
artificial autonomous animals. The result of simulation confirms the behavior selection mechanism.
Design of remote fault diagnosis based on OPC and XML
Author(s):
Yuan Chen;
Lifeng Huang;
Jing Zhang
Show Abstract
The paper presents the structure of remote fault diagnosis and maintenance system based on Internet, and it is deeply studied
to the realization of data acquisition and information integration by means of OPC and XML technology and it also makes a
brief discussion for the design of remote maintenance center. The key point technology and system structure presented in
this paper establishes the technique basis of resolving the bottleneck problem of remote fault diagnosis system.
ARM-based control system for terry rapier loom
Author(s):
Weimin Shi;
Yeqing Gu;
Zhenyu Wu;
Fan Wang
Show Abstract
In this paper, a novel ARM-based mechatronics control technique applied in terry rapier loom was presented. Electronic
weft selection, electronic fluff, electronic let-off and take-up motions system, which consists of position and speedcontrolled
servomechanisms, were studied. The control system configuration, operation principle, and mathematical
models of electronic drives system were analyzed. The synchronism among all mechanical motions and an improved
intelligent control algorithm for the warp let-off tension control was discussed. The result indict that, by applying
electronic and embedded control techniques and the individual servomechanisms, the electronic weft selection,
electronic let-off device and electronic take-up device in HGA732T terry rapier loom have greatly simplified the initial
complicated mechanism, kept the warp tension constant from full to empty beam, set the variable weft density,
eliminated the start mark effectively, promoted its flexibility, reliability and properties, and improved the fabric quality.
A direct torque control system without speed-sensor for asynchronous motor
Author(s):
Lian Zhang;
Chengbo Yu;
Xiaoqian Hu
Show Abstract
To enhance the performance of asynchronous motor, and conquer the limitation of the traditional speed-identifier, this
paper proposes a speed-identifier direct torque control system. According to transformed form of a mathematical model
of asynchronous motor, the system uses the easily-measured motor stator voltage and current and the neural network
technique to design a speed-identifier. It can realize speed-sensorless closed loop control. The simulating experiment
results of the system show that the speed regulating system has good steady-state performance and dynamic performance,
the design is reasonable and effective.
A maintenance scheme of communication link in mobile robot ad hoc networks based on potential field
Author(s):
Hong Jiang;
WenPing Jin;
GyoYing Yang;
LeiMin Li
Show Abstract
Maintaining communication link in mobile robot networks between task robots and a control center is very important in
some urgent application occasions such as remote danger detections. To offer a reliable multi-hop communication link, a
link maintaining scheme based on artificial potential field is presented. The scheme is achieved by a task robot and
communication relay ones. The task robot performs predefined tasks, and relay ones are simple robots which form a
communication relay chain. When robots move towards destination in formation, a kind of attractive force created by
communication quality is added to traditional potential field, and relay robots follow the task robot and automatically
stop at adequate locations to form a relay chain from the control station to the task robot. In order to increase relay usage
efficiency, when some relays are replaced by other short cut relays, the redundant relays can be reused by initiating
another moving toward specified location. Simulation results show that the scheme can provide a reliable multi-hop
communication link, and that the communication connection can be obtained through minimal number of relays.
Using EDF-IAE to integrate scheduling and control for networked control systems
Author(s):
Yan Shen;
Bing Guo;
Xunbo Li
Show Abstract
Networked control systems are one type of distributed real-time control systems where sensors, actuator and controllers
are interconnected by communication networks. The insertion of the communication network makes the analysis and
design of a networked control system complex. So the performance of the control loops not only depends on the design
of the control algorithms, but also on the scheduling of the shared network resource. A co-design method based on the
integrated Earliest Deadline First (EDF) scheduling algorithm and the Integral of the Absolute Error (IAE) is proposed in
order that the communication medium is more efficiently used and control performance is improved. The presented
method can adjust the sampling period, handle three types of message and guarantees real-time transmission of periodic
and aperiodic message, and non-real time message. The simulation results show that the proposed co-design method is
available and improve the system resources efficiency.
Octree-based obstacle representation and registration for real-time
Author(s):
Jaewoong Kim;
Daesik Kim;
Junghyun Seo;
Sukhan Lee;
Yeonchool Park
Show Abstract
This paper presents a novel approach for obstacle representation method when robotic manipulation task system
understand real indoor environment for 3D workspace modeling. When many objects scattering on the table in
workspace, if the robot want to grasp only one object, the robot system should has a path planning to approach the object.
In this case, the obstacle representation in cluttered-environment is an important role for robot system. The research area
of 3D workspace modeling, the research of step by step accumulating environment observation method is more difficult
than the entire environment observing method and the research is not reported sufficiently. In this paper, we can
contribute the two issues for real-time 3D workspace modeling to using the sequential input stereopsis scenes
information. First, we can suggest a method to estimate the transformation matrix from using SIFT feature and Epipolar
Geometry Constraint characteristics in the continuous process of accumulating sequential input stereopsis scenes for
more fast and accurate than recently research. This method guarantees a feasible transformation matrix result better than
the using traditional ICP and general SIFT method. Second, we can suggest a method for octree-based obstacle
representation and we can also suggest an octree update method for real-time. It is faster than entire workspace
observation method, and if the robot doesn't know about the objects and obstacles information in workspace, we can
help the robot to understand environment himself from practical information. Taking the obstacle information from
above method can help the robot system possible to do path planning for robotic manipulation task in 3D workspace.
Through the experimental result, we can show that our method is well-performing and well-modeling the obstacle in 3D
real environment workspace modeling in real-time.
Application of coevolutionary genetic algorithms for multiobjective optimization
Author(s):
Jian-guo Liu;
Zu-shu Li;
Wei-ping Wu
Show Abstract
Multiobjective optimization is clearly one of the most important classes of problems in science and engineering. The
solution of real problem involved in multiobjective optimization must satisfy all optimization objectives simultaneously,
and in general the solution is a set of indeterminacy points. The task of multiobjective optimization is to estimate the
distribution of this solution set, then to find the satisfying solution in it. Many methods solving multiobjective
optimization using genetic algorithm have been proposed in recent twenty years. But these approaches tend to work
negatively, causing that the population converges to small number of solutions due to the random genetic drift. To avoid
this phenomenon, a multiobjective coevolutionary genetic algorithm (MoCGA) for multiobjective optimization is
proposed. The primary design goal of the proposed approach is to produce a reasonably good approximation of the true
Pareto front of a problem. In the algorithms, each objective corresponds to a population. At each generation, these
populations compete among themselves. An ecological population density competition equation is used for reference to
describe the relation between multiple objectives and to direct the adjustment over the relation at individual and
population levels. The proposed approach store the Pareto optimal point obtained along the evolutionary process into
external set. The proposed approach is validated using Schaffer's test function f2 and it is compared with the Niched
Pareto GA (nPGA). Simulation experiments prove that the algorithm has a better performance in finding the Pareto
solutions, and the MoCGA can have advantages over the other algorithms under consideration in convergence to the
Pareto-optimal front.
An amendatory dynamic model with slip for four-wheeled omni-directional mobile robot
Author(s):
Qixin Cao;
Yanwen Huang;
Chuntao Leng
Show Abstract
Compared with the common differential driving ones, omni-directional mobile robots (OMRs) have more agilely
locomotion performance, which therefore have been applied in many fields. One kind of four-wheeled OMR used in
RoboCup Middle Size League competition is presented in this paper. Its kinematics and dynamic model is introduced.
And considering the independent drive of four wheels which creates inevitable slipping in motion, the amendatory
dynamics model that includes slipping between the wheels and the motion surface is presented. Based on the above
slipping model, the velocity feedback PID controller implemented by DSP as the kernel is also given here. Experiments
results demonstrate the feasibility of the dynamic model and controller.
Design and implementation of self-balancing coaxial two wheel robot based on HSIC
Author(s):
Tianlian Hu;
Hua Zhang;
Xin Dai;
Xianfeng Xia;
Ran Liu;
Bo Qiu
Show Abstract
This thesis has studied the control problem concerning position and orientation control of self-balancing coaxial two
wheel robot based on the human simulated intelligent control (HSIC) theory. Adopting Lagrange equation, the dynamic
model of self-balancing coaxial two-wheel Robot is built up, and the Sensory-motor Intelligent Schemas (SMIS) of
HSIC controller for the robot is designed by analyzing its movement and simulating the human controller. In robot's
motion process, by perceiving position and orientation of the robot and using multi-mode control strategy based on
characteristic identification, the HSIC controller enables the robot to control posture. Utilizing Matlab/Simulink, a
simulation platform is established and a motion controller is designed and realized based on RT-Linux real-time
operating system, employing high speed ARM9 processor S3C2440 as kernel of the motion controller. The effectiveness
of the new design is testified by the experiment.
Multipoint conference systems in a ubiquitous environment
Author(s):
Minseok Oh;
Keonbae Lee;
Dongsu Seong
Show Abstract
In a ubiquitous environment, people can communicate with others and have access to various computing services any
time, any place. The multipoint conference systems in a ubiquitous environment are expected to be one of the leading
applications to connect people. In this paper the various multipoint conference systems are compared for their efficiency
in a ubiquitous environment and shows why the endpoint mixing conference scheme performs effectively in an ad hoc
environment. However, the endpoint mixing conference scheme has its own drawbacks as well and we propose solutions
for them.
Analysis of energy efficient routing protocols for implementation of a ubiquitous health system
Author(s):
Jongwon Kwon;
Yongman Park;
Sangjun Koo;
Odgeral Ayurzana;
Hiesik Kim
Show Abstract
The innovative Ubiquitous-Health was born through convergence of medical service, with development of up to date
information technologies and ubiquitous IT. The U-Health can be applied to a variety of special situations for managing
functions of each medical center efficiently. This paper focuses on estimation of various routing protocols for
implementation of U-health monitoring system. In order to facilitate wireless communication over the network, a routing
protocol on the network layer is used to establish precise and efficient route between sensor nodes so that information
acquired from sensors may be delivered in a timely manner. A route establishment should be considered to minimize
overhead, data loss and power consumption because wireless networks for U-health are organized by a large number of
sensor nodes which are small in size and have limited processing power, memory and battery life.
In this paper a overview of wireless sensor network technologies commonly known is described as well as evaluation of
three multi hop routing protocols which are flooding, gossiping and modified low energy adaptive clustering
hierarchy(LEACH) for use with these networks using TOSSIM simulator. As a result of evaluation the integrated
wireless sensor board was developed in particular. The board is embedded device based on AVR128 porting TinyOS.
Also it employs bio sensor measures blood pressure, pulse frequency and ZigBee module for wireless communication.
This paper accelerates the digital convergence age through continual research and development of technologies related
the U-Health.
Three methods of formulation to increment of load bus voltage magnitude in power system
Author(s):
Qilong Liao;
Zushu Li;
Guoyu Xu;
Weigen Wu
Show Abstract
In this paper, three methods are proposed in order to formulate increment of load bus voltage magnitude in power system
during a machine-electric transient process, in which the increment of load bus voltage magnitude is composed of two
components. In the first method, one component is proportional to increment of amplitude of current, and another is
proportional to increment of module of load equivalent impedance. In the second, one component is proportional to
increment of power, which apparent power reactive power and active power can respectively be used to represent, and
another is related to variation of load equivalent impedance, which can be formulated in three forms accordingly. In the
third, a new term, power per one impedance unit (PPOIU) which is defined by the square of amplitude of current, is
proposed. One component is proportional to increment of PPOIU at the bus, and another is proportional to increment of
module of the equivalent impedance. In this paper, the three methods are compared with each other. As a result, the third
method can universally be used during any machine-electric transient process, is the simplest, link up strongly with
existing analysis method, and expediently explain the voltage stability mechanism of power system, so it can be used as
a basic method to formulate increment of load bus voltage magnitude for power system voltage stability.
uFarm: a smart farm management system based on RFID
Author(s):
Hyoungsuk Kim;
Moonsup Lee;
Jonghyuk Jung;
Hyunwook Lee;
Taehyoun Kim
Show Abstract
Recently, the livestock industry in Korea has been threatened by many challenges such as low productivity due to labor
intensiveness, global competition compelled by the Free Trade Agreement (FTA), and emerging animal disease issues
such as BSE or foot-and-mouth. In this paper, we propose a smart farm management system, called uFarm, which would
come up with such challenges by automating farm management. First, we automate labor-intensive jobs using
equipments based on sensors and actuators. The automation subsystem can be controlled by remote user through wireless
network. Second, we provide real-time traceability of information on farm animals using the radio-frequency
identification (RFID) method and embedded data server with network connectivity.
iWearSA: an intelligent wearable surveillance assistant system for perception of moving object
Author(s):
Lu Han;
Zushu Li;
Dongyi Chen
Show Abstract
In this paper, we propose iWearSA, an intelligent wearable surveillance assistant system for detecting moving object
based on wearable computing technology. The chief objective of iWearSA is to help human complete the surveillance
tasks. The research presented here addresses some special challenges and correlative modules in system design, and the
block diagram of the iWearSA system is explained in detail. The hardware components used in iWearSA are mentioned.
The availability of iWearSA is verified by guarding the kid's activity in public grassplot scenario.
Indoor location estimation using radio beacons
Author(s):
Uzair Ahmad;
Young-Koo Lee;
Sungyoug Lee;
Chongkug Park
Show Abstract
We present a simple location estimation method for developing radio beacon based location system in the indoor
environments. It employs an online learning approach for making large scale location systems in a short time
collaboratively. The salient features of our method are low memory requirements and simple computations which make
it suitable for both distributed location-aware applications based on client-server model as well as privacy sensitive
applications residing on stand alone devices.
A study on sensor data analysis and conversion of RFID middleware in a ubiquitous environment
Author(s):
Yong-Sik Choi;
Hoon Kim;
Seoung Ho Shin
Show Abstract
Sensor node of RFID Middleware system can usually be reacted from six mouths to two years, they can be exhausted
their power of storage battery only one day by communication rates and ranges. And 1:n sensor arrangement of n form
command and data send-receive that is possible simulation do without interference other sensors and research to different
sensor data analysis and conversion ways to convert Sensing data that accept from sensors to actuality information.
