nils-herrmann/clean_scirepeval huggingface dataset:
Identification of Nonlinear System Based on a New Hybrid Gradient-Based PSO Algorithm

Because the number of iterations necessary to locate the global best solution is not known a priori, it's problematic to make a proper choice of inertial weights omega and constriction coefficients l of particle swarm optimization (PSO) algorithm in advance. The existing PSO algorithms are sensitive to the above two parameters. In addition, standard PSO algorithms convergence slowly and coarsely in the latter period. A new hybrid PSO algorithm is proposed to overcome the above shortcomings. The new algorithm utilizes original PSO algorithm for locating approximately a good local minimum, and then a conjugate gradient based local search is done with the best solution found by the PSO algorithm as its starting point for finding local minimum accurately. A new optimization circle begins with the accurate local minimum as global best particle. The simulation results show that the new algorithm convergences more fast and accurately than GA. It also shows better performance than GA in identifying the parameters of RBF neural networks.
A MEMS high-speed rotation measurement system with MCNC fabricated motion and reference sensors using wireless transmission

A novel MEMS surface-micromachined non-contact high-speed rotation sensor with total surface area under 4 mm/sup 2/ was developed using the MCNC multi-user MEMS processes. This paper reports the initial characterization of the sensor and presents the results of transmitting the sensor data via various commercial wireless transmission chips. Initial results indicate that this piezoresistive sensor is capable of measuring rotation speeds from 1000 to 4000 rpm with linear output. The responsivity of the sensor is 3 Hz/rpm in this region.
Design and experiment of a bioinspired wall-climbing robot using spiny grippers

This paper proposes the design and experiment of a bioinspired wall-climbing robot with spiny arrays. Inspired by the Serica orientalis Motschulsky's tarsal system, a spiny structure is designed, and the robot's foot which has two grippers using the structure is designed. An inchworm-like gait is employed and its trajectory is planned. The robot's foot as well as the whole prototype is fabricated and tested. It is verified that the foot has remarkable adhesive ability and the robot can scale vertical and inverted rough surfaces including the ceiling.
Energy efficient head node selection algorithm in wireless sensor networks

Energy problem is a key issue for the wireless sensor network with limited batteries. It's a good idea to select a head node for data aggregation to save the energy of data transmitting. However, many algorithms don't consider the whole integrated network situation for head node selection. We proposed an energy efficient head node selection method for data aggregation. In this algorithm, three aspects were taken into consideration, which were the candidate head node's single residual energy, the total energy spent in the network if this candidate head node is chosen, and the quality of balance of the residual nodes' energy. To adapt the actual sensor nodes with limited memory and computing capacity, a simplified model is also introduced. Simulation results show that this new head node selection algorithm can achieve balanced energy consumption and prolong the life time of the network highly.
Post-disaster restoration based on fuzzy preference relation and Bean Optimization Algorithm

In China, More than 458 cities and more than 50% of the population are distributed in natural disaster-prone areas. It is important to establish a complete post-disaster reconstruction and rehabilitation system to respond to sudden natural disasters. In order to get post-disaster restoration items scheduling, we invited experts to give the fuzzy preference relation coefficients on the restoration items. Then an optimization model was proposed based on the fuzzy preference relation. Inspired by the transmission mode of beans, a novel evolutionary algorithm namely Bean Optimization Algorithm (BOA) is proposed to solve the model and obtain ranking values of the items. The experimental result gives priority to the restoration of basic livelihood of the people and public service facilities. It is people-oriented in line with the principle of earthquake recovery and reconstruction planning of China.
Measurement of wrist force/torque using data fusion technique

This paper proposes a kind of measurement method of wrist force/torque for robots. The method adopts the data fusion technique according to the output variations of the finger force sensors installed in the gripper. The finger force sensors are used to measure the clamping force of the gripper in the design. When the accuracy of measurement is not required exactly and there is the limitation of weight and volume in space robots, we utilize the existing devices to estimate the wrist force/torque without the wrist force/torque sensor, which not only meets the practical requirement but also decreases the weight and cost of robots. An experimental bench is developed and the calibration experiments are conducted to detect the relationship between the wrist force/torque and finger forces. The experimental data are used to train a radial basis function (RBF) artificial neural network, and the construction and parameters of the network are obtained. The results of data fusion of the wrist force/torque are consistent with the practical calibration values, and the effectiveness of the wrist force/torque estimating technique is proved.
Dynamic forecasting for vibration of CNC lathe using grey bootstrap model

In order to realize online monitoring and forecasting of CNC lathe faults, firstly, grey bootstrap model is proposed to forecast vibration of tool rest; secondly, the vibration signal of CNC Lathe is collected, and the effectiveness of the model is verified. The experimental study is shown that grey bootstrap model possesses high forecast accuracy, and the maximum and the mean of the relative errors of the predicted results are respectively 7.61% and 2.64%, and the reliability of the predicted interval is proved to be 100%. The point forecasting and interval forecasting are actualized at the given time and the given confidence level, only with very small predicted errors. This can solve the problem of dynamic evaluation of vibration signal of CNC lathe.
A new occupancy grid of the dynamic environment for autonomous vehicles

As an effective environment representation method, the obstacle occupancy grid has been widely applied on the autonomous vehicle, providing evidence for the behavior decision and path planning of autonomous vehicle. In this paper, a new obstacle occupancy grid named space-time occupancy grid map is presented. This map pays more attention on the dynamic obstacles in a period of future time, and maps the obstacle occupancy information in space-time dimension to two-dimensional grid. In this way, the useful obstacle occupancy information for the autonomous vehicle in a period of future time is provided, which enables the behavior decision and path planning to be more intelligent. The space-time occupancy grid map described in this paper has been applied on the two generations of autonomous vehicles, “Intelligent Pioneer I” and “Intelligent Pioneer II”, which have already completed 10,000 kilometers actual road tests in western suburb of Hefei, and won the first prize in the “Intelligent Vehicle Future Challenge of China” Competition funded by Natural Science Foundation of China.
Notice of RetractionDesign and Realization of Security Guarantee System of E-Government

The e-government system faced the multi-level security threat, which has influenced the exertion of the systematic function of the e-government. This paper analyzed the security demand for the e-government system separately from the physical layer, network layer, system layer, using layer and administration layer; introduced the method model that the security system of the e-government system designed Three typical online security model framework; then proposed the security system framework of the e-government system on this basis and carries on the division of the safe domain to the e-government system; this study analyzed the construction of the security guarantee system of the e-government finally, and pointed out that we must set up the security technology system of e-government which included designing the security support platform and structuring the security application support platform, then structured the security management system and service system of the security on the basis of the thing that the security technology system is designed.
Robotic pet based interactive home healthcare system

Using entertaining robotic pets in home healthcare monitoring system is the new idea featured in our research project reported in this paper. The structure, features and control system of this home healthcare system are presented. Hybrid evolutionary control architecture that have the virtues of both AI-based and behavior-based control architecture is proposed. The designed architecture endows the robot with the ability of learning, adaptation, quick reactive speed and rationality, also with the ability of achieving given tasks. The design of home healthcare system makes sure that the robotic pet reliably accomplishes the vital physiological data collection, data transmission and healthcare tasks with strong situation adaptability, low costs and high robustness. The system can be applied at home to masters suffering from chronic diseases, to handicapped masters, and also to fragile elderly masters
Trajectory planning to open valves for dual-arm robots

To perform the opening valve task in the DRC (Darpa Robotics Challenge), trajectory planning for dual-arm of the humanoid robot is an important issue under the condition of constrained position and pose of middle points in the trajectory. Different approaches to open valves have been investigated in this study. For dual-arm work, the method of cubic angle curve interpolation in plane circular arc is proposed. By analyzing the workspace of the dual-arm, a suitable space is computed for the legs to coordinated movement to make arms work effectively. The simulation and experiment results show that the velocity and acceleration are continuous, smooth and little position error induced by applying the developed interpolation method. The methods are simple and practical, and can improve the dual-arm robot coordination largely.
CPG-based Control System for Foot Locomotion of Gecko-inspired Robot

In this paper, a CPG-based hierarchical control system for the gecko-inspired robot is proposed to accomplish the detachment and attachment movements and to realize crossing obstacles. We designed a CPG nervous network with feedback connection, which can produce adaptive patterns for extra environments. Simulations were carried out to test the system's realization. Experiments show that the control strategy is feasible and make it easier for the robot to attach and detach.
Interaction and simulation analysis between the biomimetic gecko adhesion array and rough surface

In this paper simulation results of interaction between a biomimetic gecko adhesion array and rough contact surface are shown. First, the biomimetic gecko adhesion array with active control ability is proposed in brief. Then based on liner beam theory, the stress analysis of a single spatulae and the two dynamic procedures including dynamic contact and detached procedure are presented. And according to the height distribution of rough surface, theoretical models of two procedures are derived, which describes the interaction force between the biomimetic gecko adhesion array and rough surface. Finally based on proper choice of parameter, the simulation relational results of interaction force versus separation distance, preload, and separation angle in dynamic contact and detached procedure are shown and discussed in detail.
A networked smart sensor system for gripper of robots

The IEEE 1451 standards define a set of common communication interfaces to standardize the connectivity of sensor to microprocessor, instrumentation systems, and networks. This paper adopts the idea of the IEEE 1451, and develops a networked smart sensor system using an embedded microprocessor system for grippers of robots connecting to Internet, which will meet the needs of remotely monitoring and controlling robots using the embedded Web server technology.
A WSNs-based Map Building Method for Mobile Robots

A map building method based on wireless sensor networks (WSNs) is presented in this paper which applies the technology of WSNs to the field of mobile robots. In our scheme, a series of factors blocking the mobile robot are considered carefully and besides, multiple information is employed to develop the practicability of maps. The general used gird map is provided through our method. Extensive simulations show that the presented method has a relative small map building error under tolerance constraints and this method can satisfy requirements of robot localization and navigation.
PageSense: Toward Stylewise Contextual Advertising via Visual Analysis of Web Pages

The Internet has emerged as the most effective and a highly popular medium for advertising. Current contextual advertising platforms need publishers to manually change the original structure of their Web pages and predefine the position and style of embedded ads. Although publishers spend significant effort optimizing their Web page layout, a large number of Web pages contain noticeable blank regions. We present an innovative stylewise advertising platform for contextual advertising, called PageSense. The “style” of Web pages refers to the visual appearance of a Web page, such as color and layout. PageSense aims to associate style-consistent ads with Web pages. It provides two advertising options: 1) If publishers predefine ad positions within Web pages, PageSense will analyze the page style and select ads, which are consistent with the Web page layout, and 2) if publishers impose no constraints for ad placement, PageSense will automatically detect blank regions, select the most nonintrusive region for ad insertion, associate color-consistent ads with the Web pages, and deliver them to blank regions without breaking the original Web page style. Our experiments have verified the effectiveness of PageSense as a complement to existing contextual advertising.
A foundry fabricated surface-micromachined high-speed rotation sensor using wireless transmission

A novel MEMS surface-micromachined non-contact high-speed rotation sensor with total surface area under 4 mm/sup 2/ is now under development. Various versions of the sensor have been designed and were fabricated using the MCNC Multi-User MEMS Processes (MUMPs). This paper reports the initial characterization of the sensor and presents the results of transmitting the sensor data via a commercial wireless transmission chip. Initial results indicate that this piezoresistive sensor is capable of measuring rotation speeds from 1000 to 4000 rpm with linear output. The responsivity of the sensor is 3Hz/rpm in this region.
Modelling and Rough Surface Compliance Analysis of Biomimetic Micro/Nano Adhesive Array

Geckos are known for their exception ability to climb up vertical walls. Biomimetic gecko adhesive arrays are important to robot applications on fault inspection, wall cleaning and military reconnaissance, etc., in this paper, applying the theory of mechanics of materials and the traditional statistical approach, a theoretical adhesion model is presented, which describes the interaction between the biomimetic micro/nano double layer structure and the contacted surface. Meanwhile, the simulation results are given, which are shown to be in good agreement with experiments. Then the rough surface compliance of the biomimetic double layer structure are analyzed ,the simulation results show that the double layer structure can achieved better compliance with rough surface. Thus the theoretical foundation is laid to design and development the double layer structure of biomimetic gecko adhesive array.
GPS Estimation for Places of Interest From Social Users' Uploaded Photos

Social media has become a very popular way for people to share their photos with friends. Because most of the social images are attached with GPS (geo-tags), a photo's GPS information can be estimated with the help of the large geo-tagged image set while using a visual searching based approach. This paper proposes an unsupervised image GPS location estimation approach with hierarchical global feature clustering and local feature refinement. It consists of two parts: an offline system and an online system. In the offline system, a hierarchical structure is constructed for a large-scale offline social image set with GPS information. Representative images are selected for each GPS location refined cluster, and an inverted file structure is proposed. In the online system, when given an input image, its GPS information can be estimated by hierarchical global clusters selection and local feature refinement in the online system. Both the computational cost and GPS estimation performance demonstrates the effectiveness of the proposed hierarchical structure and inverted file structure in our approach.
Novel unequal spacing multi-pulses technology to enhance SNR for pulse laser radar

A novel multi-pulses technology with unequal space to enhance SNR of pulse laser radar is proposed in this letter. Traditional multi-pulses technology employing equal spaces multi-pulses always leads to many outputs once the time window has pulses no matter the number of pulses, which is difficult to identify which one is the main pulse we want to get. Thus we propose a method using unequal spaces multi-pulses to improve the poor performance of the equal space multi-pulses technology, which means our method will get only one pulse output when the time window has pulses input. Both simulation and experimental results show the validity of our algorithm.
Task-based whole-body control of humanoid robots to a walking motion

In this paper a whole-body control strategy is proposed for walking of humanoid robots. Its basic idea lies in the control of the centre of mass(CoM) with a ZMP regulation as well as the relative pose of the feet of the robot. A stable walking trajectory based on 3D linear inverted pendulum model (3D-LIPM) is planned for the study. Through the proposed study, it is shown that the proposed control strategy perfectly tracks the planned trajectory of CoM and adjusts the ZMP back to the stability area when the robot is out of balance. Simulations results are presented to show the effectiveness of the proposed control scheme.
A novel platform for simulation and evaluation of intelligent behavior of driverless vehicle

A novel platform which can be used to simulate and evaluate the intelligent behavior of driverless vehicle is presented in this paper. The platform is mainly composed of two subsystems: Road Simulation (RS) subsystem, Intelligent Virtual Traffic Environment (IVTE) subsystem. The RS subsystem is designed to obtain friction information between tires and road surface, which can be used to simulate dynamic behavior of vehicle in the IVTE more accurately. IVTE subsystem is used to provide virtual traffic scene and evaluate intelligent behavior of driverless vehicle, which adopts virtual reality and multi-agent technology.
Optimizing Visual Search Reranking via Pairwise Learning

Visual search reranking is defined as reordering visual documents (images or video clips) based on the initial search results or some auxiliary knowledge to improve the search precision. Conventional approaches to visual search reranking empirically take the “classification performance” as the optimization objective, in which each visual document is determined relevant or not, followed by a process of increasing the order of relevant documents. In this paper, we first show that the classification performance fails to produce a globally optimal ranked list, and then we formulate reranking as an optimization problem, in which a ranked list is globally optimal only if any arbitrary two documents in the list are correctly ranked in terms of relevance. This is different from existing approaches which simply classify a document as “relevant” or not. To find the optimal ranked list, we convert the individual documents to “document pairs,” each represented as a “ordinal relation.” Then, we find the optimal document pairs which can maximally preserve the initial rank order while simultaneously keeping the consistency with the auxiliary knowledge mined from query examples and web resources as much as possible. We develop two pairwise reranking methods, difference pairwise reranking (DP-reranking) and exclusion pairwise reranking (EP-reranking), to obtain the relevant relation of each document pair. Finally, a round robin criterion is explored to recover the final ranked list. We conducted comprehensive experiments on an automatic video search task over TRECVID 2005-2007 benchmarks, and showed consistent improvements over text search baseline and other reranking approaches.
Vehicle hardware-in-the-loop simulation facility for driverless vehicle

IIM CAS is now working on simulation platform for driverless vehicle to test some functions of driverless vehicle. The overall architecture of this system is presented and the key components are illustrated briefly. In virtual scene, its intelligent behavior is emphasized and the intelligent virtual traffic environment framework is given out. In the light of the difference of creditability analysis method between pure simulation models and Vehicle hardware-in-the-loop simulation, additional two critical points is replenished to the creditability research method on the basis of pure simulation models to make it suitable for vehicle hardware-in-the-loop simulation. Its main application fields in vehicle engineering are also given herein.
An auto exposure control algorithm based on lane recognition for on-board camera

In order to obtain the accurate exposure time in real-time for an on-board camera in different urban environments, the proposed algorithm divides captured image into 5×5 sub-areas, calculates each sub-area's average brightness value to get a histogram, analyzes the peak value distribution in histogram to determine what environments the automobile is in. According to the environment the automobile works in, the algorithm includes two modes: normal lit condition and high-contrast lit condition. It executes the appropriate exposure adjustment mechanism for two modes by analyzing their brightness distribution in different environments. To avoid the interference of other factors like the sky, the algorithm marks the road surface be the regions of interest in real time. Besides, the optimization goal is not mid-tone at all but the maximum difference between lane and background in the region of interest. The experimental results show that the algorithm can rapidly and stably switch exposure mode when the automobile is traveling in different road conditions, and it can get accurate exposure time in both modes fast and accurately.
Research on the controller of the ground testing system for space robot

A novel PID controlling algorithm based on Radial Basic Function Neural Networks (RBFNN) is proposed for the ground testing system for space robot. The testing system is with strong non-linearity and uncertainty. The parameters of PID controller are adjusted by RBFNN online. The torque is controlled by the output of circuit loop directly, which attains constant tense to simulate microgravity environment. The experimental results show that the controlling algorithm is effective, and the system is with good dynamic performance, sound robustness and good self-adaptive performance.