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检索条件"任意字段=18th International Conference on Control Automation Robotics and Vision"

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Optimal controller realizations with minimum roundoff noise gain using /spl delta/-operator

Optimal controller realizations with minimum roundoff noise ...

引用

international conference on control, automation, robotics and vision (ICARCV)

作者： Weihua Xu Jun Wu National Laboratory of Industrial Control Technology Institute of Advanced Process Con University of Zhejiang Hangzhou China

ISBN: (纸本)0780386531

the author present a study of the finite word length (FWL) implementation for digital controller structures using /spl delta/-operator. the closed-loop roundoff noise gain using /spl delta/-operator is defined and analyzed based on stochastic control theory. the optimal controller realizations are obtained via minimizing the roundoff noise gain. A numerical example is presented to illustrate the design procedure and the effectiveness of the proposed strategy.

关键词： Optimal control Digital control control systems control theory Quantization Signal to noise ratio Industrial control Process control Stochastic resonance Hardware

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Passive position location estimation using particle filtering

Passive position location estimation using particle filterin...

引用

2004 8th international conference on control, automation, robotics and vision (ICARCV), Volume 3

作者： Yong-An Zhang Di Zhou Guang-Ren Duan Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin China

ISBN: (纸本)0780386531

Particle filters are for the first time introduced into the passive position location estimation. It is shown that the standard particle filter in this case suffers from "sample impoverishment" seriously. Adaptive resampling and regularization operations are suggested to solve the problem. Numerical simulations show that under large initialization errors, the particle filtering significantly improves the location estimation performance compared with the conventional estimation methods.

关键词： position measurement navigation adaptive estimation filtering theory passive position location estimation particle filtering adaptive resampling regularization operation

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A virtual circle method for kinematic mapping human hand to a non-anthropomorphic robot

A virtual circle method for kinematic mapping human hand to ...

引用

international conference on control, automation, robotics and vision (ICARCV)

作者： Heng Wang K.H. Low Feng Gong M.Y. Wang School of Mechanical and Production Engineering Nanyang Technological University Singapore Department of Automation and Computer-Aided Engineering Chinese University of Hong Kong Hong Kong China

An investigation was initiated on the study of the kinematic mapping between human hand and the non-anthropomorphic robot hand. To account for the significant dissimilarities between them, a "virtual circle mapping" method has been developed based on the fingertips' relative positions. the principle of the method is to find suitable parameters in the hand frame, transform them to the robot frame, and then compute the robot fingertip positions according to the transformed parameters. the preliminary results and the comparison with the point-to-point mapping results are presented and analyzed. the generalization of the relative-position based mapping idea is also discussed.

关键词： Kinematics Robot sensing systems robotics and automation Data gloves Human robot interaction control systems Fingers Anthropomorphism Orbital robotics Production engineering

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An architecture for outdoor mobile robot navigation with self-organization

An architecture for outdoor mobile robot navigation with sel...

引用

international conference on control, automation, robotics and vision (ICARCV)

作者： Huancheng Zhang Miaoliang Zhu Artificial Intelligence Institute University of Zhejiang Hangzhou China

ISBN: (纸本)0780386531

Based on the observation on human being's driving behavior, this paper proposed a multi-agent based architecture for outdoor mobile robot navigation with self-organization. As the environment keeps dynamically changing, the robot should generate different actions suitable to the changing environment. With the support of a distributed communication infrastructure and an event-driven situation evaluation agent, the proposed control architecture can be dynamically reorganized according to the dynamical changes in the environment.

关键词： Mobile robots Navigation Robot kinematics Robot sensing systems Humans Actuators Computer architecture Artificial intelligence Mobile communication Communication system control

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Mechanisms for spreading of computer virus on the Internet: an overview

Mechanisms for spreading of computer virus on the Internet: ...

引用

international conference on control, automation, robotics and vision (ICARCV)

作者： Dan Xu Xiang Li Xiao Fan Wang Department of Automation Shanghai Jiaotong University Shanghai China

ISBN: (纸本)0780386531

the increasing outbreaks of computer viruses lead to a significant threat to the Internet. In this review we firstly give a brief introduction of computer virus including definition, classification, and characteristics. then we turn on the overview that how viruses spread on networks in different topologies, especially in the context of computer viruses spreading on the Internet. Recent epidemic studies on the uncorrelated and correlated networks in terms of homogeneity and heterogeneity have been reviewed and compared their distinctions with regard to the main characteristic in epidemiology: epidemic threshold.

关键词： Internet Computer viruses IP networks Network topology Computer networks automation Complex networks Information systems

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An extended ICM algorithm for range image segmentation

An extended ICM algorithm for range image segmentation

引用

international conference on control, automation, robotics and vision (ICARCV)

作者： Xiao Wang Han Wang School of Electrical and Electronic Engineering Nanyang Technological University Singapore

ISBN: (纸本)0780386531

We model the range image segmentation problem in the framework of Bayes inference and Markov random field. thereafter an extended ICM algorithm is presented in this paper. We introduce another estimation (surface parameter set A) into the basic ICM algorithm and also propose to use edge-based segmentation as the initial state for subsequent energy minimizing procedure. theoretical and experimental analysis of convergence is given. We have shown that in this way a little computation brings forth a high-quality segmentation.

关键词： Image segmentation Inference algorithms Layout Image edge detection Distance measurement Convergence Computer vision Robot vision systems Partitioning algorithms Costs

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An application of shape from shading

An application of shape from shading

引用

international conference on control, automation, robotics and vision (ICARCV)

作者： Quan Ying Du Shan Ben Chen Tao Lin Institute of Welding Technology Shanghai Jiaotong University Shanghai China

ISBN: (纸本)0780386531

Shape from shading (SFS) is an important domain in computer vision. At first the paper introduces a method of shape from shading based on single image and puts forward its implementation. then adds proper boundary conditions and adjusts the factor of brightness error function adaptively according to the results by the original algorithm, and finds accuracy of the improved algorithm by the synthesized image. At last the improved algorithm is applied to the surface height reconstruction of weld successfully, and the computing is accurate enough for the inspection on shape of weld.

关键词： Shape Welding Application software Computer vision Boundary conditions Brightness Computer errors Surface reconstruction Image reconstruction Inspection

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An active vision system with facial expressions

An active vision system with facial expressions

引用

international conference on control, automation, robotics and vision (ICARCV)

作者： Do Hyoung Kim Do-Yoon Kim Myung Jin Chung Department of Electronic Engineering and Computer Science Korea Advanced Institute of Science and Technology Daejeon South Korea

ISBN: (纸本)0780386531

In recent decades, active vision systems have been studied widely because they can control the gaze direction of their mounted vision sensors and overcome many shortcomings of passive vision systems which have fixed vision sensors. Due to an increasing interest in humanoid robots and social robots, many researchers in the active vision area are focusing their research on developing active vision systems with socially interacting with humans. In this paper, we discuss an active vision system developed for interaction with humans, and we introduce a fast and simple system architecture which includes a high-speed serial communication bus (IEEE 1394a). In addition, we propose a distributed and jerkbounded control algorithm to ensure smooth system motion.

关键词： Machine vision control systems Sensor systems Humanoid robots Robot sensing systems Human robot interaction Robot vision systems Distributed control Motion control Communication system control

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On hybrid impulsive and switching control with application to chaotic systems

On hybrid impulsive and switching control with application t...

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international conference on control, automation, robotics and vision (ICARCV)

作者： Zhi-Hong Guan D.J. Hill Xuemin Shen Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan Hubei China Department of Electronic Engineering City University of Hong Kong Kowloon Hong Kong China Department of Electronic Engineering University of Waterloo Waterloo ONT Canada

In this paper, hybrid impulsive and switching control of nonlinear systems and its application to chaotic systems are considered. Using switched Lyapunov functions, some new general criteria for exponential stability and asymptotical stability of hybrid impulsive and switching nonlinear systems are established and, particularly, some simple criteria for chaos suppression are presented. A new hybrid impulsive and switching control strategy for chaos control is developed. A typical example, the unified chaotic system, is given for illustrating and visualizing the theoretical results.

关键词： control systems Chaos Telecommunication switching Asymptotic stability Switching systems Switches Nonlinear systems Lyapunov method Stability criteria robotics and automation

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Observer-based fault-tolerant control for descriptor systems

Observer-based fault-tolerant control for descriptor systems

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international conference on control, automation, robotics and vision (ICARCV)

作者： Bing Liang Guang-Ren Duan Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin China

ISBN: (纸本)0780386531

By using generalized Riccati equations, a method of designing observer-based feedback controllers against sensor failures for detectable descriptor linear systems is presented. A parameterization of the observer-based fault-tolerant feedback controllers is provided. the controller designed by the proposed method guarantees that the closed-loop system is regular, impulse-free and stable in the normal condition as well as in the event of sensor failures. A numerical example shows the effect of the proposed method.

关键词： Fault tolerant systems control systems Sensor systems Riccati equations Sensor phenomena and characterization Symmetric matrices Eigenvalues and eigenfunctions Design methodology Adaptive control Linear systems

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