In this paper, we introduce a new control method of quasi-passive dynamic walking for a biped walking robot. The control low uses actuators just only to maintain the passive walking. First, focusing on the contact pha...
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In this paper, we introduce a new control method of quasi-passive dynamic walking for a biped walking robot. The control low uses actuators just only to maintain the passive walking. First, focusing on the contact phase of swing leg, the stability analysis of passive walking robot is performed through a discrete-time system of the robot. Second, we propose a new control method of semi-passive walking based on delayed feedback control, which do not require any reference trajectory for walking. Finally, the effectiveness of the control law is shown through several simulations.
This paper outline a method for detection and classification of the ball and the colour patches on microsoccer robots using pie slice decision region in a YUV colour map. The method is robust under changing lighting c...
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This paper outline a method for detection and classification of the ball and the colour patches on microsoccer robots using pie slice decision region in a YUV colour map. The method is robust under changing lighting conditions.
In this paper, we provide a theoretical basis for a modified IMC-PID controller and its associated set-point response and disturbance rejection tradeoff as presented in a recent conference. We show that, while the mod...
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In this paper, we provide a theoretical basis for a modified IMC-PID controller and its associated set-point response and disturbance rejection tradeoff as presented in a recent conference. We show that, while the modified IMC-PID controller can achieve set-point response and disturbance rejection tradeoff, the nominal stability property of the resulting closed-loop system can no longer be guaranteed. We then present a generalised PID controller which not only allows set-point response and disturbance rejection tradeoff to be achieved, but also possesses a guaranteed closed-loop nominal stability property. We illustrate by two simulation examples how generalised PID controllers and their associated tuning procedure can be applied to control first-order plus dead-time processes.
In this paper we discuss the design of a digital image enhancement system based on a hierarchical fuzzy logic (HFL) approach. Hierarchical fussy systems, first introduced in [G.V.S Raju and J. Zhou (1993)] are capable...
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In this paper we discuss the design of a digital image enhancement system based on a hierarchical fuzzy logic (HFL) approach. Hierarchical fussy systems, first introduced in [G.V.S Raju and J. Zhou (1993)] are capable of substantially reducing the number of fuzzy rules to be learnt. We show how evolutionary algorithms (EAs) can be used to learn the fuzzy rules in a fuzzy image filter as opposed to determining the rules using human intuition. Results are presented for the well-known 'Lena' image and another 'hill' image to prove that the newly designed hierarchical filter had acquired sufficient knowledge to enhance images which were not used during the training phase of the algorithm.
The global uniform exponential stability independent of delay (g.u.e.s.i.d.) is investigated for a wide class of time-delay systems that may involve both point and distributed delays on finite intervals as well as inf...
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The global uniform exponential stability independent of delay (g.u.e.s.i.d.) is investigated for a wide class of time-delay systems that may involve both point and distributed delays on finite intervals as well as infinitely distributed Volterra integro-differential dynamics. The stability problem is considered as a robust stability one with respect to an auxiliary system which may be defined very freely. The proposed method allows a very important generalisation related to the usual problem statement in the literature when the auxiliary system is defined by deleting the whole delayed dynamics. Conditions are established that ensure that the Laplace operator characterising the system has a bounded inverse on the closed complex right-half plane. The analysis is slightly modified for investigating uniform stability dependent of delay.
In this paper we investigate the control of a PR manipulator to targets that lie on the boundary of its workspace within finite time. This is achieved by introducing a boundary avoidance parameter, /spl epsi/, into po...
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In this paper we investigate the control of a PR manipulator to targets that lie on the boundary of its workspace within finite time. This is achieved by introducing a boundary avoidance parameter, /spl epsi/, into potential functions defined by constraint boundaries that are incorporated into a Liapunov function. We report and compare on the speed of convergence in two simulations that utilise the unique nature of the sliding mode surfaces in both Cartesian and polar formulations.
Minimum invasive surgery that supports doctors and reduces patient's physical pain has attracted attention. We consider a new intravascular neurosurgery system. There are two problems in intravascular neurosurgery...
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Minimum invasive surgery that supports doctors and reduces patient's physical pain has attracted attention. We consider a new intravascular neurosurgery system. There are two problems in intravascular neurosurgery: one is doctor's exposure to x-ray, and another is the lack of skilled doctors. We developed a remote control system by using a master-slave system to solve these problems. In this paper, we describe the development of a new slave device in the master-slave system and construct the new remote control system of catheter operation with safety. To overcome some of the problems encountered on the previous slave device (2000), we develop a new slave device with a disposable structure employing the mechanism of a mechanical pencil for safe operation.
This paper presents a novel application of the Bayesian shape model (BSM) for facial feature extraction. First, a full-face model is designed to describe the shape of a face, and the PCA is used to estimate the shape ...
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This paper presents a novel application of the Bayesian shape model (BSM) for facial feature extraction. First, a full-face model is designed to describe the shape of a face, and the PCA is used to estimate the shape variance of the face model. Then, the BSM is applied to match and extract the face patch from input face images. Finally, using the face model, the extracted face patches are easily warped or normalized to a standard view. Applications of this facial feature extraction algorithm include face recognition, face video coding and retrieval, face animation and multimedia.
In this paper we describe the implementation of a medical image aid system designed for fast access to images based on their semantic content. The raw and processed images are grouped according to image type and image...
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In this paper we describe the implementation of a medical image aid system designed for fast access to images based on their semantic content. The raw and processed images are grouped according to image type and image content and are organized in a hierarchy. The data organization in the system consists of a collection of such hierarchies that are used to efficiently store images and other related knowledge. The novelty of our system is that it accepts an arbitrary number of user-defined attributes and other features that characterize the image, as well as image processing algorithms for feature extraction. The system supports different query types and it is capable of searching images using multiple levels of symbolic and quantitative descriptions. This system provides a platform for future research on linking knowledge-based image understanding with content-based image retrieval.
This paper proposes an inverse kinematic model for deformable robots made entirely of electro-active polymer gel. The required method is to control a higher degrees of freedom than numbers of input. We (2000, 2001) ha...
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This paper proposes an inverse kinematic model for deformable robots made entirely of electro-active polymer gel. The required method is to control a higher degrees of freedom than numbers of input. We (2000, 2001) have been proposed a kinematic and dynamic model of electro-active polymer system and derived a variety of motions of gel robots by applying spatially varying electric fields. However, inverse kinematic model and the method of applying time alternating electric fields have not been investigated. We challenge the tip control of gel manipulator by applying spatially uniform but time varying electric field. We show the procedure to control the tip position of a gel manipulator by dynamically and slightly changing its whole configuration. Our work is a first step towards the shape control of gel robots.
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