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Separating real and virtual objects from their overlapping images 4th

4th European Conference on Computer Vision, ECCV 1996

作者： Ohnishi, Noboru Kumaki, Kenji Yamamura, Tsuyoshi Tanaka, Toshimitsu Department of Information Engineering Nagoya University Furo-cho Chikusa-ku464-01 Japan Bio-Mimetic Control Research Center RIKEN 8-31 Rokuban 3-chome Atsuta-ku456 Japan Computation Center Nagoya University Furo-cho Chikusa-ku464-01 Japan

ISBN: (纸本)3540611231

We often see scenes where an object's virtual image is reflected on window glass and overlaps with an image of another object behind the glass. This paper proposes a method for separating real and virtual objects from the overlapping images. Our method is based on the optical property that light reflected on glass is polarized, while light transmitted through glass is less polarized. It is possible to eliminate reflected light with a polarizing filter. The polarization direction, however, changes even for planar glass and is not easily determined without information about the position and orientation of the glass and objects relative to the camera. Our method uses a series of images obtained by rotating a polarizing filter. Real objects are separated by selecting the minimum image intensity among a series of images for each pixel. The virtual image of objects is obtained by subtracting the image of the real objects from the image having the maximum image intensity among a series of images for each pixel. We present experiments with actual scenes to demonstrate the effectiveness of the proposed method. © Springer-Verlag Berlin Heidelberg 1996.

关键词： Glass

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Magnetic bearing experiment for integrated teaching and research laboratories

Magnetic bearing experiment for integrated teaching and rese...

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IEEE Conference on control Technology and Applications (CCTA)

作者： B. Paden N. Morse R. Smith Department of Mechanical and Environemental Engineering Magnetic Moments Limited Liability Company Santa Barbara USA The Center for Control Engineering and Computation Santa Barbara USA

Magnetic bearings represent an important technology which often places considerable demands on control system designers. These unstable plants are multivariable, nonlinear, and have lightly damped modes associated with suspended rotors. In this paper we describe how these challenges can be brought into teaching and research laboratories with a self-contained, yet flexible, magnetic bearing experiment. Moreover, we discuss how many experiments can be performed with this system which range in complexity from undergraduate SISO identification and control experiments, to graduate level control design, and research experiments in multivariable, adaptive, and nonlinear control.

关键词： Magnetic levitation Education Laboratories control systems Open loop systems Magnetic sensors Electromagnets Stators Coils Nonlinear control systems

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GLOBAL INTERNAL STABILIZABILITY DOES NOT IMPLY GLOBAL EXTERNAL STABILIZABILITY FOR SMALL SENSOR DISTURBANCES

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IEEE TRANSACTIONS ON AUTOMATIC control 1995年第12期40卷 2119-2122页

作者： FREEMAN, R Center for Control Engineering and Computation Department of Electrical and Computer Engineering University of California Santa Barbara CA USA

It was shown in [1] that for control-affine nonlinear systems, global asymptotic stabilizability via continuous state feedback implies global input-to-state stabilizability with respect to actuator disturbances. We show that the analogous result for sensor disturbances does not hold: we construct a second-order system which admits a continuous memoryless globally asymptotically stabilizing state feedback controller but for which no such controller can prevent finite escape times from every initial condition in the presence of small sensor disturbances.

关键词： Asymptotic stability Actuators Sensor systems control systems Nonlinear systems Nonlinear control systems State feedback Robust stability control theory Working environment noise

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A different look at output tracking: control of a VTOL aircraft

A different look at output tracking: control of a VTOL aircr...

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IEEE Conference on Decision and control

作者： P. Martin S. Devasia B. Paden Center for Control Engineering and Computation ECE Department University of California Santa Barbara CA USA Mechanical Engineering Department University of California Santa Barbara CA USA

An important control problem is output tracking. One approach, for slightly nonminimum phase systems is to approximate the system by a minimum phase one. Another approach is to track signals generated by an exosystem. These methods concentrate on properties of the IO system without any attempt to investigate and use structural properties of the IS system. In this paper the authors propose an alternative point of view based on the following simple remark: if one had a state tracker (i.e. a controller able to track any reference state trajectory), the output tracking would reduce to the generation of a good state reference, which is only an open-loop problem, and hence (hopefully) simpler. The idea is simply to split the output tracking problem into two steps.< >

关键词： Aerospace control Trajectory control systems Open loop systems Aircraft propulsion control engineering control engineering computing Mechanical engineering State feedback Signal generators

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Nonlinear control system design via dynamic order reduction

Nonlinear control system design via dynamic order reduction

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IEEE Conference on Decision and control

作者： R. Ghanadan Center for Control Engineering and Computation Department of Electrical and Computer Engineering University of California Santa Barbara CA USA

In this paper we present a design scheme for output tracking of nonlinear systems that are subject to regular perturbations. We show that applications of singular perturbation theory to the input-output feedback linearization technique provides a systematic method to identify the slow "dominant" states and fast "negligible" states. Similar to the backstepping design technique, a suitable state variable is converted into a "control like" variable which in the steady state is forced to approach the desired tracking control law for the reduced order system. We show that this design achieves stable approximate tracking of reasonable reference trajectories for nonlinear systems that are "dominantly" minimum phase. The order of approximation can be arbitrarily improved by addition of correction terms in the control law. The main advantage of this approach is that the design is often performed for a much simpler model which is linear in the new control variable and describes the dominant part of the original system by ignoring some of the fast states that are forced to have little effect on the steady state performance.< >

关键词： Nonlinear control systems Nonlinear dynamical systems Nonlinear systems Steady-state Force control State feedback Linearization techniques Backstepping control systems Reduced order systems

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Tools and procedures for robust control of nonlinear systems

Tools and procedures for robust control of nonlinear systems

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IEEE Conference on Decision and control

作者： R.A. Freeman P.V. Kokotovic Center for Control Engineering and Computation Department of Electrical and Computer Engineering University of California Santa Barbara CA USA

We review some of the existing results on the Lyapunov design of robustly stabilizing feedback laws for uncertain nonlinear systems. Using the concept of a robust control Lyapunov function, we present robust backstepp... 详细信息

关键词： Robust control Nonlinear systems Lyapunov method Feedback control systems Force control Asymptotic stability Nonlinear control systems control engineering control engineering computing

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Robust control Lyapunov functions: the measurement feedback case

Robust control Lyapunov functions: the measurement feedback ...

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IEEE Conference on Decision and control

作者： R.A. Freeman P.V. Kokotovic Center for Control Engineering and Computation Department of Electrical and Computer Engineering University of California Santa Barbara CA USA

We extend the concept of a robust control Lyapunov function (RCLF) for nonlinear systems to the case of measurement feedback. We explore conditions under which the existence of an RCLF is sufficient and/or necessary f... 详细信息

关键词： Robust control Computer aided software engineering State feedback Lyapunov method Robustness control systems Uncertain systems control engineering control engineering computing Nonlinear systems

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An introduction to perspective observability and recursive identification problems in machine vision

An introduction to perspective observability and recursive i...

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IEEE Conference on Decision and control

作者： B.K. Ghosh E.P. Loucks M. Jankovic Department of Systems Science and Mathematics Washington University Saint Louis MO USA Center for Control Engineering and Computation University of California Santa Barbara CA USA

The class of problems considered in the paper arises in machine vision wherein a moving object is observed with the aid of a CCD camera. Under the assumption of perspective projection, a CCD camera observes every point on the object up to a line. The authors pose the problem in the framework of linear system theory and consider a dynamical system.< >

关键词： Observability Machine vision Charge coupled devices Charge-coupled image sensors Equations control systems Computer vision Linear systems US department of Energy Symmetric matrices

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Global robustness of nonlinear systems to state measurement disturbances

Global robustness of nonlinear systems to state measurement ...

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IEEE Conference on Decision and control

作者： R.A. Freeman P.V. Kokotovic Center for Control Engineering and Computation Department of Electrical and Computer Engineering University of California Santa Barbara CA USA University of California Santa Barbara Santa Barbara CA US Dept. of Electr. & Comput. Eng. California Univ. Santa Barbara CA USA

We consider nonlinear control systems for which an estimate x/spl circ/ of the system state x is available for feedback. We assume x/spl circ/=x+d/sub m/, where d/sub m/(t) is an unknown locally bounded state measurement disturbance. We present conditions under which we can design a smooth feedback law u=/spl mu/(x/spl circ/) which renders the mapping from d/sub m/ to x globally input/output stable. For any initial condition, such a feedback law will guarantee that no finite escape times occur, that bounded disturbances d/sub m/ produce bounded signals, and that x/spl rarr/0 when d/sub m//spl rarr/0. We show that the class of systems for which such feedback laws exist include systems in strict feedback form. One important application is in the output feedback stabilization problem, where the disturbance d/sub m/ comes from a separately designed observer.< >

关键词： Nonlinear systems control systems Output feedback State feedback Radio control Stability control engineering control engineering computing Noise robustness Robust control

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Markov Chain–Based Stochastic Strategies for Robotic Surveillance

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control, Robotics, and Autonomous Systems 1000年第1期4卷 243-264页

作者： Xiaoming Duan Francesco Bullo Department of Mechanical Engineering and Center for Control Dynamical Systems and Computation University of California Santa Barbara California 93106-5070 USA email: xiaomingduan@ucsb.edubullo@ucsb.edu

This article surveys recent advancements in strategy designs for persistent robotic surveillance tasks, with a focus on stochastic approaches. The problem describes how mobile robots stochastically patrol a graph in an efficient way, where the efficiency is defined with respect to relevant underlying performance metrics. We start by reviewing the basics of Markov chains, which are the primary motion models for stochastic robotic surveillance. We then discuss the two main criteria regarding the speed and unpredictability of surveillance strategies. The central objects that appear throughout the treatment are the hitting times of Markov chains, their distributions, and their expectations. We formulate various optimization problems based on the relevant metrics in different scenarios and establish their respective properties.

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