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Computing in cortical columns: Curve inference and stereo correspondence 1st

引用

1st IEEE International Workshop on Biologically Motivated computer Vision, BMCV 2000

作者： Zucker, Steven W. Center for Computational Vision and Control Dept. of Computer Science and Electrical Engineering Yale University New HavenCT United States

ISBN: (纸本)3540675604

In stereoscopic images, the behavior of a curve in space is related to the appearance of the curve in the left and right image planes. Formally, this relationship is governed by the projective geometry induced by the stereo camera configuration and by the differential structure of the curve in the scene. We propose that the correspondence problem- matching corresponding points in the image planes can be solved by relating the differential structure in the left and right image planes to the geometry of curves in space. Specifically, the compatibility between two pairs of corresponding points and tangents at those points is related to the local approximation of a space curve using an osculating helix. This builds upon earlier work on co-circularity, or the transport of tangents along the osculating circle. To guarantee robustness against small changes in the camera parameters, we select a specific osculating helix. A relaxation labeling network demonstrates that the compatibilities can be used to infer the appropriate correspondences in a scene. Examples on which standard approaches fail are demonstrated. © Springer-Verlag Berlin Heidelberg 2000.

关键词： Cameras

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Contour-based correspondence for stereo 6th

Contour-based correspondence for stereo

引用

6th European Conference on computer Vision, ECCV 2000

作者： Alibhai, Shamez Zucker, Steven W. Center for Computational Vision and Control Depts. of Computer Science and Electrical Engineering Yale University New HavenCT United States

ISBN: (纸本)3540676856

In stereoscopic images, the behavior of a curve in space is related to the appearance of the curve in the left and right image planes. Formally, this relationship is governed by the projective geometry induced by the stereo camera configuration and by the differential structure of the curve in the scene. We propose that the correspondence problem-matching corresponding points in the image planes-can be solved by relating the differential structure in the left and right image planes to the geometry of curves in space. Specifically, the compatibility between two pairs of corresponding points and tangents at those points is related to the local approximation of a space curve using an osculating helix. To guarantee robustness against small changes in the camera parameters, we select a specific osculating helix. A relaxation labeling network demonstrates that the compatibilities can be used to infer the appropriate correspondences in a scene. Examples on which standard approaches fail are demonstrated. © Springer-Verlag Berlin Heidelberg 2000.

关键词： Cameras

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Integrating identification with robust control: A mixed H/sub 2//H/sub /spl infin// approach

Integrating identification with robust control: A mixed H/su...

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IEEE Conference on Decision and control

作者： L. Wang G.C. Goodwin Center for Integrated Dynamics and Control Department of Electrical and Computer Engineering University of Newcastle NSW Australia

ISBN: (纸本)0780366387

This paper builds on previous work which developed a robust control algorithm which used statistical confidence bounds. The key idea was to change the nominal design so as to reduce the overall variability from an a priori specified desired performance. However, due to the choice of cost function, the original design method did not necessarily guarantee stability. This paper addresses the latter problem in a mixed H/sub 2//H/sub /spl infin// framework.

关键词： Robust control Cost function Iterative algorithms Uncertainty Stability Algorithm design and analysis System identification Covariance matrix Australia Design methodology

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Discrete-time variable structure control using recursive switching function

Discrete-time variable structure control using recursive swi...

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American control Conference (ACC)

作者： Jung-Ho Kim Dong-Il Cho School of Electrical Engineering and Computer Science Engineering Research Center for Advanced Control and Instrumentation Seoul National University Seoul South Korea

In this paper, a new discrete-time variable structure control method using a recursive switching function is developed. The motivation for developing this method stems from the fact that variable structure control implemented in discrete time can lose the invariant property. In the proposed method, the switching function is recursively computed, utilizing the current tracking error vector and the previous switching function value. Combining the recursive switching function with a reaching law using a saturation function, the proposed control method achieves robustness to uncertainties, including both parametric errors and external disturbances. Under the condition that bounded uncertainties are constant or slowly varying, the tracking error is nearly zero even if the switching function does not become zero, preserving the invariant property of variable structure control.

关键词： Uncertainty Robustness Sliding mode control Sampling methods Electric variables control Robust control Error correction control systems computer science Instruments

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X-33 ascent flight control design by trajectory linearization - A singular perturbation approach

X-33 ascent flight control design by trajectory linearizatio...

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AIAA Guidance, Navigation, and control Conference and Exhibit 2000

作者： Jim Zhu, J. Banker, Brad D. Hall, Charles E. Electrical and Computer Engineering Department Louisiana State University Baton Rouge LA 70803 United States Vehicle and Systems Development Department Control Systems Group NASA Marshall Space Flight Center MSFC AL 35812 United States

ISBN: (纸本)9781563479786

The flight control of X-33 poses a challenge to conventional gain-scheduled flight controllers due to its large attitude maneuvers from liftoff to transition and descent. In addition, a wide range of uncertainties in vehicle handling qualities and disturbances must be accommodated by the attitude control system. Nonlinear tracking and decoupling control by trajectory linearization can be viewed as the ideal gain-scheduling controller designed at every point on the flight trajectory. Therefore it provides robust stability and performance at all stages of flight without interpolation of controller gains and eliminates costly controller redesigns due to minor airframe alteration or mission reconfiguration. In this paper, a trajectory linearization design for an X-33 ascent flight controller is presented along with 3-DOF and 6-DOF simulation results. The current design only generates the commanded torque for the vehicle, relying on a gain scheduled control allocation algorithm of the baseline controller developed by NASA MSFC. It is noted that the controller gains for the commanded torque are computed symbolically based on the theoretical derivations and are applicable to any feasible trajectories and airframes with known mass properties. Therefore the design is scalable and mission adaptable. The 3-DOF results were obtained from direct implementation of the symbolic gains, and the 6-DOF results were obtained from the former with only a few days of tuning and refinement. This "plug-and-play" feature demonstrates the simplicity and the inherent robustness of the design technique, which is sought by NASA for the development, test and routine operations of the Reusable Launch Vehicles (RLV's). Plans for further enhancement of the ascent controller and the initial development of the entry and descent controller are also presented. © 2000 by J. J. Zhu. Published by the American Institute of Aeronautics and Astronautics, Inc.

关键词： controllers

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Robust to noise microgravity isolation control system design via high-order sliding mode control

Robust to noise microgravity isolation control system design...

引用

AIAA Guidance, Navigation, and control Conference and Exhibit 2000

作者： Shkolnikov, I. Shtessel, Y. Whorton, M. Jackson, M. Department of Electrical and Computer Engineering The University of Alabama in Huntsville Huntsville AL 35899 United States TD55/Vehicle Control Systems NASA/Marshall Space Flight Center EDI 3 MSEC Huntsville AL 35812 United States

ISBN: (纸本)9781563479786

Vibration isolation control system design for a microgravity experiment mount is considered. The controller design based on dynamic sliding manifold (DSM) technique is proposed to attenuate the accelerations transmitted to an isolated experiment mount either from a vibrating base or directly generated by the experiment, as well as to stabilize the internal dynamics of this nonminimum phase plant. An auxiliary DSM is employed to maintain the high-order sliding mode on the primary sliding manifold in the presence of uncertain actuator dynamics of second order. The primary DSM is designed for the closedloop system in sliding mode to be a filter with given characteristics with respect to the input external disturbances. © 2000 The American Institute of Aeronautics and Astronautics Inc. All rights reserved.

关键词： Microgravity

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2-Sliding mode control for nonlinear plants with parametric and dynamic uncertainties

2-Sliding mode control for nonlinear plants with parametric ...

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AIAA Guidance, Navigation, and control Conference and Exhibit 2000

作者： Krupp, D.R. Shkolnikov, I.A. Shtessel, Y.B. TD55/Vehick Control Systems NASA/Marshall Space Flight Center ED13 MSFC Huntsville AL 35812 United States Department of Electrical and Computer Engineering The University of Alabama in Huntsville Huntsville AL 35899 United States

ISBN: (纸本)9781563479786

A problem of sliding mode control design for a SISO nonlinear system with unmodeled actuator of the 2nd order is considered. A design methodology based on nonlinear dynamic sliding manifold (NDSM) is proposed to attenuate the chattering phenomenon affecting sliding-mode-controlled plants in presence of unmodeled dynamics. The controller utilizes the pass filter characteristics of the physical-actuating device to provide a smoothing effect on the discontinuous control signal. The methodology proposed allows for maintaining the sliding mode on the surface designed without actuator dynamics being taken into account. This goal is achieved via auxiliary dynamic sliding manifold design, the 2-sliding mode on the auxiliary NDSM provides for finite-time-convergence of the sliding surface quantity to zero. The proposed controller design is based on the relative degrees of the plant and the unmodeled actuator dynamics and the ranges of the uncertainties of the plant and actuator. © 2000 The American Institute of Aeronautics and Astronautics Inc. All rights reserved.

关键词： Actuators

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Design of a parallel-type gripper powered by pneumatic actuators

Design of a parallel-type gripper powered by pneumatic actua...

引用

IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： B.-J. Yi H.Y. Ra J.H. Lee Y.S. Hong J.S. Park S.-R. Oh I.H. Suh W.K. Kim School of Electrical Engineering and Computer Science Hanyang University South Korea Advanced Robotics Research Center KIST South Korea Intelligent System Control Research Center KIST South Korea Department of Control and Instrumentation Engineering Korea University South Korea

A new parallel gripping mechanism is proposed in this work. This device has a parallelogramic platform which can be flexibly folded. Therefore, this mechanism not only can be used to grasp an object having irregular shape or large volume, but also can be utilized as micro-positioning device after grasping the object. Forward position analysis and platform kinematics are investigated to deal with motion tracking and force control. Pneumatic rotator is employed for actuation and a compact sized, 4/3 way proportional pressure valve is also developed to deal with feedback-based dynamic control. The pressure valve also allows indirect force control by measuring the offset pressure occurring due to contact between the grasped object and the parallel platform. In experimental work, performances of the motion tracking and indirect force control are shown satisfactory.

关键词： Grippers Pneumatic actuators Force control Tracking Valves Shape Kinematics Motion analysis Pressure control Size control

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Real-time visual tracking insensitive to three-dimensional rotation of objects 1st

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1st IEEE International Workshop on Biologically Motivated computer Vision, BMCV 2000

作者： Cho, Young-Joo You, Bum-Jae Lim, Joonhong Oh, Sang-Rok Intelligent System Control Research Center Korea Institute of Sci and Tech P.O. Box 131 Cheongryang Seoul130-650 Korea Republic of School of Electrical Engineering and Computer Science Hanyang University Sa-1 dong 1271 Ansan Kyungki-do425-791 Korea Republic of

ISBN: (纸本)3540675604

Visual tracking is essential for many applications such as vision-based control of intelligent robots, surveillance, agriculture automation, medical image processing, and so on. Especially, a fast and reliable visual tracking is important since the performance of visual tracking determines the reliability and real-time characteristics of overall system. It is not easy in visual tracking, however, to estimate the configuration of a target object in real-time when the three-dimensional pose of the target object is changing. On the contrary, a human being is able to track an object without the estimation of three-dimensional pose of the object even though three-dimensional rotations and /or occlusion by other objects change the original image of the object. This paper proposes a fast and reliable SSD-based visual tracker insensitive to three-dimensional rotation of an object as well as translation, two-dimensional rotation, scaling, and shear of an object by proposing a performance measure for distortion of current image with respect to an original reference image. The performance measure is a combination of aspect ratio of a rectangle, variations of four internal angles of the rectangle from ninety degrees, the direction of rotation and the angular velocity of the rectangle. So, the reference image for visual tracking is updated whenever the performance measure is greater than an initialized distortion rate without the estimation of three-dimensional pose of an object. The algorithm is experimented in real-time successfully at a personal computer adopted with a general-purpose frame grabber. © Springer-Verlag Berlin Heidelberg 2000.

关键词： Intelligent robots

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Stiffness analysis for effective peg-in/out-hole tasks using multi-fingered robot hands

Stiffness analysis for effective peg-in/out-hole tasks using...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： Byoung-Ho Kim Byung-Ju Yi Il Hong Suh Sang-Rok Oh School of Electrical Engineering Computer Science Hanyang University Seoul South Korea Intelligent System Control Research Center KIST Seoul South Korea

This paper deals with stiffness analysis for effective peg-in/out-hole tasks using multifingered robot hand without inter-finger coupling. We first observe the fact that some coupling stiffness elements cannot be planned arbitrary. Then, we analyze the conditions of the specified stiffness matrix in the operational space to successfully and more effectively achieve the given peg-in/out-hole tasks. It is concluded that the location of compliance center on the peg and the coupling stiffness element between the translational and the rotational direction play important roles for successful peg-in/out-hole tasks. Simulation results are included to verify the feasibility of the analytic results.

关键词： Robot sensing systems Force sensors Intelligent robots Orbital robotics Transmission line matrix methods Signal processing Fingers computer science Intelligent systems Intelligent control

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