Graphical models in which every node holds a time-series were analysed in Caines et al. [13], [14] using the notion of lattice conditional independence (LCI) due to Anderson et al. [1], [2]. Under certain feedback fre...
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ISBN:
(纸本)9783540735694
Graphical models in which every node holds a time-series were analysed in Caines et al. [13], [14] using the notion of lattice conditional independence (LCI) due to Anderson et al. [1], [2]. Under certain feedback free (or causality) conditions, LCI imposes a special zero structure on the stochastic realizations of those processes generated by state space systems;this structure comes directly from the transitive directed acyclic graph (TDAG) which is in one-to-one correspondence with the Boolean Hilbert lattice of the LCI formulation. In this paper, these properties of sets of stochastic processes are generalized to the setting of infinite Bayes nets of time series;this formulation contains as a special case conditionally independent processes embedded in chain recurrent spatial structures.
System identification is concerned with obtaining good models from data, i.e. with data driven modeling. In this contribution the aim is to explain and discuss ideas, general approaches and theories underlying identif...
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ISBN:
(纸本)9783540735694
System identification is concerned with obtaining good models from data, i.e. with data driven modeling. In this contribution the aim is to explain and discuss ideas, general approaches and theories underlying identification of linear systems. Identification of linear systems is a nonlinear problem and is "prototypical" also for many parts of identification of nonlinear systems.
To realize weld defects detection and measure automation based on machine vision, such as dimension, shape, displacement and numbers in a given length (area), it's necessary to build a mathematic model for the ima...
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ISBN:
(纸本)9783540733737
To realize weld defects detection and measure automation based on machine vision, such as dimension, shape, displacement and numbers in a given length (area), it's necessary to build a mathematic model for the imaging system. Precision of model directly affects precision of measurement for defects. In this paper, a model was built including some nonlinear factors, i.e. the input screen shape (spherical surface) of the x-ray image intensifier and the distortion of the image in CCD at small distance. A kind of reason why the electromagnetic distortion generates is given in this paper, too.
In this paper, a technique for 3D reconstruction of welding environment is presented in order to improve the intelligence of welding robot. Based on the novel framework of spacetime stereo, the technique can be viewed...
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ISBN:
(纸本)9783540733737
In this paper, a technique for 3D reconstruction of welding environment is presented in order to improve the intelligence of welding robot. Based on the novel framework of spacetime stereo, the technique can be viewed as a combination of structured light and traditional stereo vision. To overcome the problem in stereo matching of the untextured object in the welding environments, a series of light pattern is designed to add artificial "texture" onto the surface. The result of experiment shows that the technique is a promising means to reconstruct the completely unstructured welding environment.
Multi-modal signal fusion is an important way to improve immersion and fidelity of virtual reality training systems. With the help of a robotic arm, haptic device, it is possible to supply haptic-visual-audio display ...
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ISBN:
(纸本)9783540733737
Multi-modal signal fusion is an important way to improve immersion and fidelity of virtual reality training systems. With the help of a robotic arm, haptic device, it is possible to supply haptic-visual-audio display for training dentist. Architecture is firstly proposed to integrate different signals in a training system. High efficient sound synthesis algorithm is proposed based on hybrid combination of parameter identification from recorded sound signal, then use signal synthesis method to form final sound signal. Mapping method among audio, haptic and visual signal is proposed based on parameter mapping under various interaction status. Experiment based on Phantom desktop proves the stability of the rendering algorithm and the improved fidelity after adding audio feedback to current haptic-visual dental training system.
We propose a class of second order mechanical systems on Grassmarm manifolds that converge to the dominant eigenspace of a given symmetric matrix. Such second order flows for principal subspace analysis are derived fr...
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ISBN:
(纸本)9783540738893
We propose a class of second order mechanical systems on Grassmarm manifolds that converge to the dominant eigenspace of a given symmetric matrix. Such second order flows for principal subspace analysis are derived from a modification of the familiar Euler-Lagrange equation by inserting a suitable damping term. The kinetic energy of the system is defined by the Riemannian metric on the Grassmannian while the potential energy is given by a trace function, that is defined by the symmetric matrix. Convergence of the algorithm to the dominant subspace is shown for generic initial conditions and a comparison with the Oja flow is made.
This paper proposes a novel pose system for mobile robots, which can provide cheap and robust solution for pose estimation. Its pose estimation approach is based on at least two optical sensors. The pose system also p...
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ISBN:
(纸本)9783540733737
This paper proposes a novel pose system for mobile robots, which can provide cheap and robust solution for pose estimation. Its pose estimation approach is based on at least two optical sensors. The pose system also presents a method for system calibration to improve accuracy. There are several advantages with respect to this system: (1) the measurement from the optical sensors is insensitive to slipping and crawling;(2) this pose estimation system is independent from the kinematics of the robot;(3) compared to incremental encoders, our system is a low-cost and flexible solution for indoor mobile robots. Some simulations have been done to validate our system.
We show how the Kimura-Georgiou parametrization for interpolating a function and its derivatives at 0 is independent of the particular choice of basis of Szego-polynomials of first and second kind, but only on the map...
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ISBN:
(纸本)9783540735694
We show how the Kimura-Georgiou parametrization for interpolating a function and its derivatives at 0 is independent of the particular choice of basis of Szego-polynomials of first and second kind, but only on the map between these two polynomial bases. This leads to a more general parametrization, which extends to different interpolation points and multivariable setup.
It is well known that energy balancing control is stymied by the presence of pervasive dissipation. To overcome this problem in electrical circuits, the authors recently proposed the alternative paradigm of power shap...
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ISBN:
(纸本)9783540738893
It is well known that energy balancing control is stymied by the presence of pervasive dissipation. To overcome this problem in electrical circuits, the authors recently proposed the alternative paradigm of power shaping-where, as suggested by its name, stabilization is achieved shaping a function akin to power instead of the energy function. In this paper we extend this technique to general nonlinear systems and apply it for the stabilization of the benchmark tunnel diode circuit. It is shown that, in contrast with other techniques recently reported in the literature, e.g. piece-wise approximation of nonlinearities, power shaping yields a simple linear static state feedback that ensures (robust) global asymptotic stability of the desired equilibrium.
In this paper, welding pool image processing software is developed to measure the weld shape parameters in different images. Firstly the visual sensing system was established according to the principle of the passive ...
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ISBN:
(纸本)9783540733737
In this paper, welding pool image processing software is developed to measure the weld shape parameters in different images. Firstly the visual sensing system was established according to the principle of the passive visual image sensing. Next, the image processing and pattern recognition techniques are discussed to get a clear contour of the pool and measure its size. Finally, in order to testify the efficiency of the software, an image of aluminum alloy welding pool is used and validating results indicate these techniques can be applied practically.
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