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GYROSCOPE AIDED VIDEO STABILIZATION USING nonlinear REGRESSION ON SPECIAL ORTHOGONAL GROUP

GYROSCOPE AIDED VIDEO STABILIZATION USING NONLINEAR REGRESSI...

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IEEE international conference on Acoustics, Speech, and Signal Processing (ICASSP)

作者： Hu, Xiao Olesen, Daniel Knudsen, Per Tech Univ Denmark DK-2800 Lyngby Denmark

ISBN: (纸本)9781509066315

This paper presents a novel approach for gyroscope aided video stabilization. With the raw 3D rotational motion captured by a gyroscope, it is then smoothed through nonlinear regression directly on the Special Orthogonal Group. Instead of solving a variational problem, the regression problem is discretized with finite forward difference, which makes it an optimization problem on manifold. We derive a quadratic approximation of the objective function using Lie algebra. To address the black border problem caused by smoothing, we model it as linear inequality constraints. The resulting quadratic programming problem can be efficiently solved. Experiments on synthetic data and real video sequences demonstrate that our method performs better than the compared method in terms of motion smoothing and video stabilization.

关键词： Video stabilization Manifold Optimization Matrix Lie Group Lie Algebra

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13th international conference on Optimization and Applications, OPTIMA 2022

13th International Conference on Optimization and Applicatio...

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13th international conference on Optimization and Applications, OPTIMA 2022

ISBN: (纸本)9783031225420

The proceedings contain 17 papers. The special focus in this conference is on Optimization and Applications. The topics include: Application of the Interpolation Approach for Approximating Single-Machine Scheduling Problem with an Unknown Objective Function;robot Workspace Approximation with Modified Bicenetred Krawczyk Method;degenerate Equality Constrained Optimization Problems and P-Regularity Theory;the Relative Formulation of the Quadratic programming Problem in the Aircraft Assembly Modeling;an Accelerated Algorithm for Finding Efficient Solutions in Multiobjective Problems with Black-Box Multiextremal Criteria;the Best Ellipsoidal Estimates of Invariant Sets for a Third-Order Switched Affine System;prize-Collecting Asymmetric Traveling Salesman Problem Admits Polynomial Time Approximation Within a Constant Ratio;control of the Motion of Heating Sources of a Rod with Non-linear Feedback;terminal Control of Multi-agent System;qualitative Analysis of an Infinite Horizon Optimal Control Problem of a Shallow Lake;preface;decomposition Method for Solving the Quadratic programming Problem in the Aircraft Assembly Modeling;some Adaptive First-Order Methods for variational inequalities with Relatively Strongly Monotone Operators and Generalized Smoothness;compression and Data Similarity: Combination of Two Techniques for Communication-Efficient Solving of Distributed variational inequalities;numerical Analysis of the Model of Optimal Savings and Borrowing.

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A Study on a method solving optimal currents of IPMSM based on the PDS for electric vehicles 13

A Study on a method solving optimal currents of IPMSM based ...

引用

IEEE international conference on Mechatronics and Automation

作者： Wu, Qinmu Zhang, Wenli Chen, Xiangping Cao, Min Guizhou Univ Inst Elect Engn Guiyang 550003 Guizhou Peoples R China

ISBN: (纸本)9781509023967

This paper proposes a method based on a projected dynamic system solving optimal currents, which ensure the minimal operation loss of the motor, of control system for interior permanent magnet synchronous motor (IPMSM) for electric vehicle. First, the efficiency optimization of IPMSM is modeled as a nonlinear programmming problem with constraints. Then using variational theory and projected dynamic theory to transform the model into projected dynamical equations, which is easy to implement with recurrent neural network. Last, the convergence criteria of projected dynamic equation and the identity of the solution of the programming problem are proved based on the Lyapunov theory and projection theory in this paper. The simulation analysis indicate that the method proposed in this paper is reasonable and the projected dynamical equation has a fast convergence speed.

关键词： electric vehicle IPMSM variational theory projected dynamic system optimal current

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Two-term disjunctions on the second-order cone

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17th international conference on Integer programming and Combinatorial Optimization, IPCO 2014

作者： Kilinç-Karzan, Fatma Yildiz, Sercan Tepper School of Business Carnegie Mellon University Pittsburgh PA United States

ISBN: (纸本)9783319075563

Balas introduced disjunctive cuts in the 1970s for mixed-integer linear programs. Several recent papers have attempted to extend this work to mixed-integer conic programs. In this paper we develop a methodology to derive closed-form expressions for inequalities describing the convex hull of a two-term disjunction applied to the second-order cone. Our approach is based on first characterizing the structure of undominated valid linear inequalities for the disjunction and then using conic duality to derive a family of convex, possibly nonlinear, valid inequalities that correspond to these linear inequalities. We identify and study the cases where these valid inequalities can equivalently be expressed in conic quadratic form and where a single inequality from this family is sufficient to describe the convex hull. Our results on two-term disjunctions on the second-order cone generalize related results on split cuts by Modaresi, KIlInç, and Vielma, and by Andersen and Jensen. © 2014 Springer international Publishing Switzerland.

关键词： Second-order cone programming

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Capacitated transit assignment with loading priorities

Capacitated transit assignment with loading priorities

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3rd international conference on Complementarity Problems

作者： Hamdouch, Y Marcotte, P Nguyen, S Univ Montreal DIRO Montreal PQ H3C 3J7 Canada Univ Montreal CRT Montreal PQ H3C 3J7 Canada

In a transit network involving vehicles with rigid capacities, we advocate the use of strategies for describing consumer behavior. At each boarding node, a user sorts the transit lines in decreasing order of preference, and boards the first vehicle in this list whose residual capacity is nonzero. Since a user's position in the queue varies from day to day, the delay experienced is stochastic. This leads to an equilibrium problem where, at a solution. users are assigned to strategies that minimize their expected delay. This situation is formulated as a variational inequality, whose cost mapping is discontinuous and strongly asymmetric, due to the priority of cur-rent passengers over incoming users. We prove that the solution set is nonempty and provide numerical results obtained by an efficient solution algorithm.

关键词： transit networks equilibrium assignment strategy hyperpath capacities priorities variational inequalities

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nonlinear Schwarz Preconditioning for Quasi-Newton Methods 27th

Nonlinear Schwarz Preconditioning for Quasi-Newton Methods

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27th international conference on Domain Decomposition Methods in Science and Engineering, DD 2022

作者： Kothari, Hardik Universita della Svizzera italiana Lugano Switzerland

ISBN: (纸本)9783031507687

In this work, we consider a nonlinear preconditioning strategy for Quasi-Newton (QN) methods. QN methods are a class of root-finding methods, where the full Jacobian is replaced with an approximation. In the context of this work, we consider secant methods, which take into account a variable number of secant equations at each nonlinear iteration. © 2024, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： nonlinear equations

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First Steps Towards Full Model Based Motion Planning and Control of Quadrupeds: A Hybrid Zero Dynamics Approach

First Steps Towards Full Model Based Motion Planning and Con...

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IEEE/RSJ international conference on Intelligent Robots and Systems (IROS)

作者： Ma, Wen-Loong Hamed, Kaveh Akbari Ames, Aaron D. CALTECH Dept Mech Engn Pasadena CA 91125 USA Virginia Polytech Inst & State Univ Faulty Mech Engn Blacksburg VA 24061 USA CALTECH Dept Control Dynam Syst Pasadena CA 91125 USA

ISBN: (纸本)9781728140049

The hybrid zero dynamics (HZD) approach has become a powerful tool for the gait planning and control of bipedal robots. This paper aims to extend the HZD methods to address walking, ambling and trotting behaviors on a quadrupedal robot. We present a framework that systematically generates a wide range of optimal trajectories and then provably stabilizes them for the full-order, nonlinear and hybrid dynamical models of quadrupedal locomotion. The gait planning is addressed through a scalable nonlinear programming using direct collocation and HZD. The controller synthesis for the exponential stability is then achieved through the Poincare sections analysis. In particular, we employ an iterative optimization algorithm involving linear and bilinear matrix inequalities (LMIs and BMIs) to design HZD-based controllers that guarantee the exponential stability of the fixed points for the Poincare return map. The power of the framework is demonstrated through gait generation and HZD-based controller synthesis for an advanced quadruped robot, -Vision 60, with 36 state variables and 12 control inputs. The numerical simulations as well as real world experiments confirm the validity of the proposed framework.

关键词： nonlinear programming

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Echo-State Conditional variational Autoencoder for Anomaly Detection

Echo-State Conditional Variational Autoencoder for Anomaly D...

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international Joint conference on Neural Networks (IJCNN)

作者： Suh, Suwon Chae, Daniel H. Kang, Hyon-Goo Choi, Seungjin Pohang Univ Sci & Technol Dept Comp Sci & Technol 77 Cheongam Ro Pohang 37673 South Korea SK Telecom Access Network Lab Seoul South Korea

ISBN: (纸本)9781509006199

Anomaly detection involves identifying the events which do not conform to an expected pattern in data. A common approach to anomaly detection is to identify outliers in a latent space learned from data. For instance, PCA has been successfully used for anomaly detection. variational autoencoder (VAE) is a recently-developed deep generative model which has established itself as a powerful method for learning representation from data in a nonlinear way. However, the VAE does not take the temporal dependence in data into account, so it limits its applicability to time series. In this paper we combine the echo-state network, which is a simple training method for recurrent networks, with the VAE, in order to learn representation from multivariate time series data. We present an echo-state conditional variational autoencoder (ES-CVAE) and demonstrate its useful behavior in the task of anomaly detection in multivariate time series data.

关键词： Learning systems

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Model Predictive Control for Discrete Fuzzy Systems via Iterative Quadratic programming

Model Predictive Control for Discrete Fuzzy Systems via Iter...

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IEEE international conference on Fuzzy Systems

作者： Arino, Carlos Perez, Emilio Querol, Andres Sala, Antonio Univ Jaume 1 D Ingn Sistemas Ind & Diseno Castellon de La Plana 12071 Spain Univ Politecn Valencia Inst Univ Automat & Informat Ind E-46022 Valencia Spain

ISBN: (纸本)9781479920723

Takagi-Sugeno fuzzy models are exact representations of nonlinear systems in a compact region. Guaranteed-cost linear matrix inequalities produce controllers which minimize a shape-independent bound on a quadratic cost;however, the controller has a fixed structure (possibly suboptimal), say a Parallel Distributed Compensator (PDC), and does not allow input saturation. By posing the problem as a Model Predictive Control one, the ideas of terminal set, terminal controller and feasible set can be used in order to improve the performance of usual guaranteed-cost controllers for Takagi-Sugeno systems via Quadratic programming. A Polya-based approach has been introduced in order to (conservatively) transform the invariant set problem into a polytopic one, as well as computing the controller feasibility region. The optimal controller is computed iteratively.

关键词： Discrete Takagi-Sugeno Fuzzy Models Invariant sets Contractive sets and Robust Stability

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Mixed schemes of finite element method for non-standard boundary value problems of the nonlinear theory of thin elastic shells 12

Mixed schemes of finite element method for non-standard boun...

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12th international conference on Mesh Methods for Boundary - Value Problems and Applications

作者： Karchevsky, M. M. Kazan Fed Univ 18 Kremlyovskaya St Kazan 420008 Russia

variational statements of equilibrium problems for a thin elastic shell within a geometrically nonlinear theory of mean bending for different types of principal boundary conditions, including non-classical, are given. Two classes of shell models are considered: (1) a geometrically nonlinear equilibrium model for an anisotropic shell of a material obeying generalized Hooke's law;(2) a geometrically and physically nonlinear equilibria model for a shallow shell. Sufficient conditions for their generalized solvability in the corresponding Sobolev spaces are derived. In the case of the non-shallow shell the implicit function theorem is used. In the case of the shallow shell the variation problem is investigated using the generalized Weierstrass principle. Mixed finite element methods based on the use of the second derivatives of the deflection as auxiliary variables are constructed for approximate solutions of these problems. Sufficient conditions for solvability of the corresponding discrete problems are obtained. The convergence of approximate solutions is investigated. Accuracy estimates in the case of sufficiently smooth solutions of the original problems are given. Additional conditions are proposed for the problem on the shallow shell to ensure of implementation of the inequalities of the type of strong monotonicity and Lipschitz-continuity of the differential operator.

关键词： Sobolev spaces

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