This paper explains the principle and method to calibrate the image plane center of the camera by use of laser in the pre-calibrate process of the intrinsic parameters of the visual sensor. The laser facula image has ...
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ISBN:
(纸本)9783540733737
This paper explains the principle and method to calibrate the image plane center of the camera by use of laser in the pre-calibrate process of the intrinsic parameters of the visual sensor. The laser facula image has been disposed properly, so the accurate position has been located by calculating the center of mass. Consequently, the image plane center can be calibrated accurately. After the calibration, the guiding experiments show that the precision of the system is quite good which proves that camera calibrated by the method presented by this paper can satisfy the requirement of the whole system.
This paper proposes a support vector machine (SVM)-based fuzzy system (SVM-FS), which has good comprehensibility as well as satisfactory generalization capability. SVM provides a mechanism to extract support vectors f...
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ISBN:
(纸本)9783540733737
This paper proposes a support vector machine (SVM)-based fuzzy system (SVM-FS), which has good comprehensibility as well as satisfactory generalization capability. SVM provides a mechanism to extract support vectors for generating fuzzy IF-THEN rules from training data. In SVM-FS, SVM is used to extract IF-THEN rules;the fuzzy basis function inference system is adopted as the fuzzy inference system. Furthermore, we theoretically analyze the proposed SVM-FS on the rule extraction and the inference method comparing with other fuzzy systems;comparative tests are performed using benchmark data. The analysis and the experimental results show that the new approach possesses high comprehensibility as well as satisfactory generalization capability.
A novel control scheme is proposed for passive compass-like biped based on the concept of anti-phase synchronization. Under this framework, various interesting properties of the stable biped gait are studied. The dyna...
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ISBN:
(纸本)9783540733737
A novel control scheme is proposed for passive compass-like biped based on the concept of anti-phase synchronization. Under this framework, various interesting properties of the stable biped gait are studied. The dynamics of the biped is decoupled by inverse dynamic control and two legs of the biped are converted to be independent parallel subsystems. The coupled synchronization controller is designed which can effectively solve the anti-phase synchronization control problem. The proposed anti-phase synchronization control scheme can also make the mechanical energy of the robot reach a desired level while the average velocity tracking a target value. By designing a Lyapunov function, the stability and convergence of the anti-phase synchronization controller are proved. Simulation is conducted to show the effectiveness of the proposed control scheme. It is demonstrated that the proposed method is useful for analysis and design of the biped gait.
Arc welding is a complex phenomenon involving intensive interactions among heat, arc and arc force. To minimize the undesirable interference in weld pool imaging, a pulsed laser beam projects a strong illumination ont...
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ISBN:
(纸本)9783540733737
Arc welding is a complex phenomenon involving intensive interactions among heat, arc and arc force. To minimize the undesirable interference in weld pool imaging, a pulsed laser beam projects a strong illumination onto the weld pool area. The ultra-high shutter speed vision system is synchronized to capture the weld pool image in the given short period. Through image processing, the geometrical information of the weld pool is obtained. It is input to a neurofuzzy logic controller so that the welding parameters like welding current and welding speed can be changed in real time to achieve desired weld dimension in response to the changes in welding conditions.
We consider hidden Markov processes in discrete time with a finite state space X and a general observation or read-out space gamma. The identification of the unknown dynamics is carried out by the conditional maximum-...
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ISBN:
(纸本)9783540735694
We consider hidden Markov processes in discrete time with a finite state space X and a general observation or read-out space gamma. The identification of the unknown dynamics is carried out by the conditional maximum-likelihood method. The normalized log-likelihood function is shown to satisfy a uniform law of large numbers over certain compact subsets of the parameter space. Two cases are covered: first, when the running value of the transition probability matrix, denoted by Q is positive, second, when Q is primitive, but the read-out densities are strictly positive.
In teleoperated robotic systems, a user controls a robotic manipulator via an input device. Generally the position and velocity commands generated by the user in free space can be arbitrary in the workspace of the inp...
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ISBN:
(纸本)9783540733737
In teleoperated robotic systems, a user controls a robotic manipulator via an input device. Generally the position and velocity commands generated by the user in free space can be arbitrary in the workspace of the input device. However, due to the mechanical limitation and workspace constraints of a manipulator, the manipulator cannot always exactly follow the input command and often runs into a stop. This paper proposes a haptic teleoperation method to enable a user to control a manipulator conveniently and without violating constraints of the manipulator. The configuration constraints and mechanical limits, such as singularities and joint limits, are converted into a constraining force. It is then fed back to the user via a haptic device to restrict the motion of the user's hand so that the manipulator can be operated smoothly without being interrupted by constraint violation. Experimental results demonstrate the feasibility of the proposed method.
The fractional- order PI alpha D-beta controller is more flexible and gives an opportunity to better adjust dynamical properties of a fractional-order control system than the traditional PID controller. However, the p...
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ISBN:
(纸本)9783540733737
The fractional- order PI alpha D-beta controller is more flexible and gives an opportunity to better adjust dynamical properties of a fractional-order control system than the traditional PID controller. However, the parameter selection is more difficult for such a controller, because it introduces two additional parameters alpha and beta. For this problem, this paper proposes a fractional-order PI alpha controller with self-tuning parameters based on neural network, and discusses the discretization method and the design method of the PI alpha controller. The architecture of back-propagation neural networks and parameters self-tuning algorithm of the controller are described. Experiment results show that the controller presented not only maintains the performance of the normal fractional-order PI alpha controller, but also has better flexibility and parameters self-tuning ability.
"Robot Motion control 2007" presents very recent results in robot motion and control. Forty-one short papers have been chosen from those presented at the sixth International Workshop on Robot Motion and Cont...
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ISBN:
(数字)9781846289743
ISBN:
(纸本)9781846289736
"Robot Motion control 2007" presents very recent results in robot motion and control. Forty-one short papers have been chosen from those presented at the sixth International Workshop on Robot Motion and control held in Poland in June 2007. The authors of these papers have been carefully selected and represent leading institutions in this field. The following recent developments are discussed: Design of trajectory planning schemes for nonholonomic systems with optimization of energy, torque limitations and other factors; vision-based control; different applications of robotic systems in industry and everyday life, like medicine, education, entertainment and others. The book is suitable for graduate students of automation and robotics, informatics and management, mechatronics, electronics and production engineering systems as well as scientists and researchers working in these fields.
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