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Segmenting lumbar vertebrae in digital video fluoroscopic images through edge enhancement

Segmenting lumbar vertebrae in digital video fluoroscopic im...

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

作者： Shu-Fai Wong Kwan-Yee Wong Department of Computer Science The University of Hong Kong Hong Kong China University of Hong Kong Hong Kong HK Dept. of Comput. Sci. Hong Kong Univ. China

ISBN: (纸本)0780386531

Video fluoroscopy provides a cost effective way for the diagnosis of low back pain. Backbones or vertebrae are usually segmented manually from fluoroscopic images of low quality during such a diagnosis. In this paper, we try to reduce human workload by performing automatic vertebrae detection and segmentation. Operators need to provide the rough location of landmarks only. the proposed algorithm would perform edge detection, which is based on pattern recognition of texture, along the snake formed from the landmarks. the snake would then attach to the edge detected. Experimental results show that the proposed system can segment vertebrae from video fluoroscopic image automatically and accurately.

关键词： Image segmentation Spine Image edge detection Computer vision Back Pain Shape Costs Humans Motion analysis

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Reducing the effect of initial condition offsets using selective previous cycle data

Reducing the effect of initial condition offsets using selec...

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

作者： Mingxuan Sun Danwei Wang Youyi Wang College Information Engineering Zhejiang University of Technology Hangzhou China School of Electrical and Electronic Engineering Nanyang Technological University Singapore

ISBN: (纸本)0780386531

Repositioning is required in mechanical systems performing repetitive tasks. the effect of poor accuracy of repositioning on tracking performance of iterative learning control has been fully understood. the iterative learning ensures the system output to follow the desired trajectory with a specified error bound, proportional to the bound on initial condition offsets. In this paper, varying-order learning method is proposed to enhance tracking performance by lowering the size of the error bound. A discrete-time initial rectifying action is introduced, by which the system output achieves the desired trajectory jointed smoothly with a transient trajectory from the starting position. Practical schemes are presented based on the varying-order learning and illustrated by numerical results of a single rigid link example.

关键词： Robustness Convergence Learning systems Sun Educational institutions Data engineering Mechanical systems control systems Iterative methods Computer errors

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Sonar and vision based navigation schemes for autonomous underwater vehicles

Sonar and vision based navigation schemes for autonomous und...

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

作者： B. Kalyan A. Balasuriya T. Ura S. Wijesoma School of EEE Nanyang Technological University Singapore URA Laboratory Underwater Technology Research Center IIS University of Tokyo Japan

In this paper, autonomous underwater vehicle (AUV) navigation schemes are proposed using forward looking sonar (FLS) and charged coupled device (CCD) camera for near bottom applications. Scans obtained from the onboard FLS are processed using a feature extraction technique discussed in the paper to extract stable point features in the environment. A technique is also proposed for AUVs to track optical features. through field trials conducted using the test-bed vehicles NTU-UAV and the Twin-Burger2, the performance of the algorithms proposed are analyzed. the paper discusses the above-mentioned individual sensor capabilities and drawbacks in AUV navigation.

关键词： Sonar navigation Underwater vehicles Feature extraction Sonar applications Charge coupled devices Charge-coupled image sensors Optical sensors Testing Performance analysis Algorithm design and analysis

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Robust pole assignment via P-D feedback in a class of second-order dynamic systems

Robust pole assignment via P-D feedback in a class of second...

引用

2004 8th international conference on control, automation, robotics and vision (ICARCV), Volume 2

作者： Guo-sheng Wang Guang-ren Duan Department of Control Engineering Academy of Armored Forces Engineering Beijing China Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin China

ISBN: (纸本)0780386531

the design of robust pole assignment via proportional-plus-derivative (P-D) feedback is investigated for a class of second-order dynamic systems. Based on P-D feedback parametric eigenstructure assignment for second-order dynamic systems, parametric expressions of the closed-loop eigenvalue sensitivities to the perturbed elements in the open-loop system matrices are derived and an effective algorithm for robust pole assignment in second-order dynamic systems via P-D feedback is proposed. this method utilizes directly the system data of the original second-order dynamic system, and thus is convenient to use in applications. A three lumped mass-spring dashpot system example shows the effect of this proposed algorithm.

关键词： pole assignment PD control eigenstructure assignment closed loop systems open loop systems time-varying systems robust pole assignment PD feedback second-order dynamic system parametric eigenstructure assignment closed-loop eigenvalue sensitivity open-loop system matrices

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Biologically inspired sliding mode control of switched reluctance motor

Biologically inspired sliding mode control of switched reluc...

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

作者： Guoqin Gao Yukun Sun Deming Wang School of Electrical and Information Engineering Jiangsu University Zhenjiang China School of Electrical and Information Engineering Jiangsu University Zhenjiang Zhenjiang China Electronics & Information Department East China Shipbuilding Institute Zhenjiang China

ISBN: (纸本)0780386531

As the ideal sliding motion can't be formed in the practical system using a sliding mode control, the sliding mode controller for switched reluctance motor has the problem of large speed ripples. In this paper, a biologically inspired shunting model is incorporated into the variable structure sliding mode control for a switched reluctance motor in order to improve its performance. the simulation by MATLAB demonstrates the effectiveness of the proposed control scheme. the simulation results show that the switched reluctance motor using the proposed biologically inspired sliding mode control has the better speed tracking performance than using the conventional sliding mode control. In addition, the switched reluctance motor controller keeps the features of parameter insensitivity and rapid recovery from load disturbances.

关键词： Sliding mode control Reluctance motors Reluctance machines Biological system modeling Linear feedback control systems Electric variables control Mathematical model Motion control control systems Torque

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Decoupling control and feedback linearization for a class of nonlinear time-delay systems

Decoupling control and feedback linearization for a class of...

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2004 8th international conference on control, automation, robotics and vision (ICARCV), Volume 2

作者： Wei Wang Gong-You Tang Shan-Shan Zhou College of Information Science and Engineering Ocean University of China Qingdao China

ISBN: (纸本)0780386531

An input-output decoupling and linearization problem for a class of nonlinear time-delay systems is considered. the method is based on differential geometry theory to transform the nonlinear state equation into a normal form that has the property of being input-output linear. Several sufficient conditions are discussed, under which there exist a state feedback controller and the nonlinear coordinate transformation that can realize the output variables being independent of time delays and decoupling from the inputs. the Isidori-Brunovsky canonical form of the original system is given as well, which help to simplify the theory analysis and bring convenience to the practical ends.

关键词： linearisation techniques nonlinear control systems delay systems differential geometry nonlinear equations state feedback decoupling control feedback linearization nonlinear time-delay systems input-output decoupling problem differential geometry theory nonlinear state equation input-output linearity state feedback controller nonlinear coordinate transformation Isidori-Brunovsky canonical form theory analysis

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Kinematics modeling and system errors analysis for an AFM based nanomanipulator

Kinematics modeling and system errors analysis for an AFM ba...

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

作者： Xiaojun Tian Ning Xi Yuechao Wang Zaili Dong Wenjung Li Shenyang Inst. of Autom. Acad. of Sci. Shenyang China Department of Electrical and Computer Engineering Michigan State University East Lansing MI USA Shenyang Institute of Automation Chinese Academy and Sciences Shenyang China Department of Automation and Computer-Aided Engineering CUHK Hong Kong China

ISBN: (纸本)0780386531

During imaging and nanomanipulation with a sample-scanning AFM based nanomanipulator, because of bend motion of tube scanner, two important errors will be generated, namely scanning size error and cross coupling error, and they are destructive to both image quantitative analysis and nanomanipulation accuracy. To minimize the errors, a kinematics model of the scanner is presented, which shows that lateral and vertical displacements at any point on sample depend on its onset to tube axis, applied voltage and sample thickness besides scanner geometric parameters and piezoelectric constant. According to the model, the two errors are quantitatively analyzed. Imaging and nanolithography experiments verify the kinematics model and errors calculation formulas, and some methods are also proposed for minimizing the errors.

关键词： Kinematics Error analysis Probes Nonlinear dynamical systems automation Voltage Nanolithography Atomic force microscopy Piezoelectric materials Image analysis

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Application of MCGS for process control and realtime detection in the process of friction stir welding

Application of MCGS for process control and realtime detecti...

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

作者： Wang Xi-jing Zhang Zhong-ke Guo Rui-jie Han Xiao-hui A. Rong State Key Laboratory of Gansu New-Ferrous Metal Material Lanzhou University of Technology Lanzhou China State Key Lab of Gansu New Non-ferrous Metal Material Lanzhou University Technology Lanzhou China

It is a key technology in studying friction stir welding to develop the controller of the welding machine. the power of this machine should be adjusted easily if the workpieces have different dimensions and different materials adopting the different welding parameters. this paper presents the control method of self-adjusted torque via limited current value and an adjusting mean of the main axis rotate speed by frequency conversion technology. So the friction tool has wide rotate speed range and works steadily. the torque of tool is also big enough to generate the heat for joining the different work pieces. Software MCGS (monitor and control generated system) is especially used to achieve the capabilities of controlling reading and displaying the welding parameters. It was shown that this controller controlled by MCGS meets the requirements of FSW.

关键词： Process control Friction Welding Torque control control systems Transducers DC motors Frequency conversion Programmable control Shoulder

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Phase-locked loop process control system using LQR approach

Phase-locked loop process control system using LQR approach

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

作者： S. Wanchana T. Benjanarasuth D. Isarakorn J. Ngamwiwit N. Komine Faculty of Engineering and Research Center for Communication and Information Technology King Mongkut's Institute of Technology Ladkrabang Bangkok Thailand School of Information Technology and Electronics Tokai University Kitakaname Hiratsuka Kanagawa Japan

this paper presents the phase-locked loop (PLL) process control system designed by using the approach of linear quadratic regulator (LQR). By considering the loop filter (LF) of phase-locked loop is a part of the process to be controlled, an augmented system can be constructed when voltage control oscillators (VCO) is considered as an added integrator. the integral gain of the proposed augmented system obtained by LQR can be used as an optimal value to design the parameter of LF under the known value of natural frequency of the PLL. the experimental results in controlling the second-order lag pressure process using the proposed PLL show that the system response is fast without overshoot and steady-state error, the output disturbance effect can be rejected, the property of tracking can be obtained and the system can be controlled when process parameter is changed.

关键词： Phase locked loops Process control control systems Voltage control Voltage-controlled oscillators Pressure control Process design Regulators Filters Frequency

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A simple strategy for detecting outlier samples in microarray data

A simple strategy for detecting outlier samples in microarra...

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

作者： Xuesong Lu Yanda Li Xuegong Zhang MOE Key Laboratory of Bioinformatics Department of Automation Tsinghua University Beijing Beijing China

ISBN: (纸本)0780386531

Microarrays can monitor expression levels of thousands of genes simultaneously. Many people have used the gene expression data obtained with microarrays to classify different groups of samples, such as different types or subtypes of cancers. In our experiments as well as those of some other investigators, it has been observed that in some microarray data sets, there might be outlier samples which are either caused by imperfectness in the experiments or by possible mislabeling at certain steps. the existence of such samples impacts classification accuracy and may even cause misleading conclusions. In this paper, we studied this problem with two simulated data sets of typical scenarios and formed a simple but powerful strategy for detecting such outlier or mislabeled samples, built upon cross validation of the basic SVM classifier. the strategy was applied to a public colon cancer data set and it successfully detected 6 outlier cases. this work suggests an effective scheme for detecting outlier samples in a data set and for evaluating the sample quality.

关键词： Support vector machines Support vector machine classification Colon Gene expression Diseases Bioinformatics automation Computerized monitoring Cancer detection Neoplasms

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