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An Algorithm for Extrinsic Parameters Calibration of a Camera and a Laser Range Finder Using Line Features

An Algorithm for Extrinsic Parameters Calibration of a Camer...

引用

2007 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Ganhua Li Yunhui Liu Li Dong Xuanping Cai Dongxiang Zhou National University of Defense Technology Xi'an China Department of Automation and Computer Aided Engineering Chinese University of Hong Kong Hong Kong China Xi''an Satellite Control Center Xi'an China Joint Center for Intelligent Sensing and Systems National University of Defense Technology in Changsha of China Changsha China

This paper presents an effective algorithm for calibrating the extrinsic parameters between a camera and a laser range finder whose trace is invisible. On the basis of an analysis of three possible features, we propose to design a right-angled triangular checkerboard and to employ the invisible intersection points of the laser range finder's slice plane with the edges of the checkerboard to set up the constraints equations. The extrinsic parameters are then calibrated by minimizing the algebraic errors between the measured intersections points and their corresponding projections on the image plane of the camera. We compared our algorithm with the existing methods by both simulations and the real data of a stereo measurement system. The simulation and experimental results confirmed that the proposed algorithm can yield more accurate results.

关键词： Calibration Cameras Robot vision systems Sensor systems Coordinate measuring machines Sensor fusion Equations Algorithm design and analysis Laser fusion Intelligent robots

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computer aided control system design: Multiple design objectives

Computer aided control system design: Multiple design object...

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European Control Conference (ECC)

作者： Y.C. Kim L.H. Keel S.P. Bhattacharyya School of Electrical & Electronic Engineering Chungbuk National University Cheongju South Korea Center of Excellence in Information Systems Tennessee State Univ. Nashville TN USA Department of Electrical & Computer Engineering Texas A&M University Texas TX USA

A new approach to control system design has been implemented in the software described here. The set of controllers simultaneously satisfying multiple design specifications can be obtained without performing a traditional optimization procedure. The most notable strength of the method is that the entire set of controllers, satisfying some of the most important specifications such as stability and robust stability can be described first by sets of linear inequalities within which performance is sought. This paper describes the basic principle of the design method along with a series of examples for illustration.

关键词： Gain Closed loop systems MATLAB Optimization Time-domain analysis Aerospace electronics Linear programming

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Design of a new broadband EMC double ridged guide horn antenna

Design of a new broadband EMC double ridged guide horn anten...

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European Conference on Antennas and Propagation: EuCAP 2006

作者： Abbas-Azimi, Majid Arazm, Farrokh Rashed-Mohassel, Jalil Center of Excellence on Applied Electromagnetic Systems School of Electrical and Computer Engineering University of Tehran North Kargar Ave. Tehran Iran

ISBN: (纸本)9290929375

A new design for broadband EMC double ridged guide horn (DRGH) antennas is presented. A conventional 1-18 GHz double ridged guide horn has been investigated rigorously. Then some modifications have been performed in the structure of the antenna. Elimination of radiation pattern deficiencies especially at higher frequencies accompanying with better EM characteristics of the antenna have been the main purposes for these modifications. The main modifications are imposed on the profile of ridges, H-plane flares and E-plane flares. The resulted antenna not only has considerably better performance but also has smaller physical dimensions and less weight in comparison with the conventional one.

关键词： Horn antennas

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Serial bus encoding for low power application

Serial bus encoding for low power application

引用

2006 International Symposium on System-on-Chip, SOC

作者： Saneei, Mohsen Afzali-Kusha, Ali Navabi, Zainalabedin Nanoelectronics Center of Excellence School of Electrical and Computer Engineering University of Tehran Tehran Iran Computer Aided Design Lab. Elec. and Comp. Eng. Dept. University of Tehran Tehran Iran

ISBN: (纸本)1424406226

In this paper, we propose a low-power encoding scheme for serial buses (LESB) which can be used in SoCs. The scheme makes use of a look-up-table for encoding the input data before the parallel to serial conversion and a look-up-table after serial to parallel conversion in the decoder. Using the look-up table, the input symbols are replaced with some codewords which have some redundant bits compared to the original symbols. The serial transmission of the codewords leads to lower switching (transition) activity compared to that of the original transmission of the input symbols. The simulation results show that the when one redundant bit is used, the proposed scheme reduces the transition (switching) activity on the serial bus for uniform data more than 18% with a reduction of 11% in the throughput. More power reduction may be achieved by adding more redundant bits to original input symbols. © 2006 IEEE.

关键词： Table lookup

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A novel approach to automatic music composing: Using genetic algorithm

A novel approach to automatic music composing: Using genetic...

引用

International computer Music Conference, ICMC 2006

作者： Zad, Damon Daylamani Araabi, Babak N. Lucas, Caru Department of Information Systems and Computing Brunel University United Kingdom Dept. of Electrical and Computer Engineering Control and Intelligent Processing Center of Excellence University of Tehran Iran

Artificial music composition is one of the ever rising problems of computer science. Genetic Algorithm has been one of the most useful means in our hands to solve optimization problems. By use of precise assumptions and adequate fitness function it is possible to change the music composing into an optimization problem. This paper proposes a new genetic algorithm for composing music. Considering entropy of the notes distribution as a factor of fitness function and developing mutation and crossover functions based on harmonic rules and trying to keep the melodies intact during these processes would result in a musical piece pleasant to human ears and interesting for human mind. This algorithm does not have the constraints of the previous algorithms. Restraining mutation and crossover functions with a goal of producing melodies based on acceptable melodies composed by humans, this algorithm is not bound to any genre, instrument or melody. The experimental results of this approach show that it is near to the human composing and the results produced from it are more acceptable than the ones produced by its predecessors.

关键词： Genetic algorithms

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Who moved?! An investigation into distribution of actions and behaviors in a multi agent system

Who moved?! An investigation into distribution of actions an...

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2006 IEEE International Conference on Mechatronics, ICM

作者： Daneshvar, Roozbeh Lucas, Caro Artificial Intelligence and Robotics Lab. Faculty of Electrical and Computer Engineering University of Tehran Tehran Iran Center of Excellence for Control and Intelligent Processing Faculty of Electrical and Computer Engineering University of Tehran and School of Intelligent Systems Tehran Iran

ISBN: (纸本)0780397134

In this paper we have considered systems in which agents communicate via their environment. In these systems the agents do not have direct and explicit communication with each other and instead they have implicit communication which is performed via the environment they are located in. Different kinds of environment elements are considered to be changed while on the other hand for all of these situations there is a change in the environment and this change means potential stimuli that fires behaviors of agents for future. It is considered that if we can find a track of changes in the environment and find the roots of a movement in an agent that is originally made by another agent of the group. © 2006 IEEE.

关键词： Multi agent systems

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Serial Bus Encoding for Low Power Application

Serial Bus Encoding for Low Power Application

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IEEE International Symposium on System-on-Chip

作者： Mohsen Saneei Ali Afzali-Kusha Zainalabedin Navabi Nanoelectronics Center of Excellence School of Electrical and Computer Engineering University of Tehran Tehran Iran Computer Aided Design Laboratory Electrical and Computer Engineering Department University of Tehran Tehran Iran

关键词： Encoding Wires Capacitance Network-on-a-chip Energy dissipation Power engineering computing Decoding Energy consumption Application software Nanoelectronics

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Low-latency Multi-Level Mesh Topology for NoCs

Low-latency Multi-Level Mesh Topology for NoCs

引用

International Conference on Microelectronics, ICM

作者： Mohsen Saneei Ali Afzali-Kusha Zainalabedin Navabi Nanoelectronics Center of Excellence School of Electrical and Computer Engineering University of Tehran Tehran Iran Computer Aided Design Laboratory Elec. and Computer Engineering Department University of Tehran Tehran Iran

In this paper, we introduce a new topology for network on chips which is named multi-level mesh topology. The multi-level mesh topology is basically similar to the 2D-mesh with this difference that we have several meshes that have some common routers. This architecture reduces the latency and the dynamic power consumption in NoCs and can improve the communication throughput in high traffic applications. This architecture reduces the latency of 3 x 3, 5 x 5, and 7 x 7 2-level mesh architectures about 12.5%, 21.4%, and 18.5% related to mesh architecture, respectively. The results are expected to improve further if a better adaptive routing algorithm is utilized.

关键词： Network-on-a-chip Delay Network topology Wires computer interfaces computer networks Nanoelectronics Energy consumption Throughput Scalability

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A Mesochronous Technique for Communication in Network on Chips

A Mesochronous Technique for Communication in Network on Chi...

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International Conference on Microelectronics, ICM

作者： Mohsen Saneei Ali Afzali-Kusha Zainalabedin Navabi Nanoelectronics Center of Excellence School of Electrical and Computer Engineering University of Tehran Tehran Iran Computer Aided Design Laboratory Elec. and Computer Engineering Department University of Tehran Tehran Iran

In this paper, we propose a mesochronous scheme for communication over serial buses in network on chips (NoC). The technique, which removes metastability errors in mesochronous communications, makes use of only one strobe line with the bus. The strobe line toggles once with every frame of the data. In the suggested method, the frequencies of the transmitter and the receiver are independent with some tolerable difference. The results of HSPICE simulations in a 0.13 mum standard CMOS technology show a 3.65 Gbps as the maximum transmission bandwidth of the technique. The idea can be applied to parallel buses without any change in the control circuit.

关键词： Network-on-a-chip Clocks Integrated circuit interconnections Metastasis computer networks Frequency synchronization Bandwidth Wires Nanoelectronics Design engineering

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Optimization of the Crosstalk of Crossing Microstrips in Multilayered Media Using Lumped Circuit Model

Optimization of the Crosstalk of Crossing Microstrips in Mul...

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International Conference on Mathematical Methods in Electromagnetic Theory (MMET)

作者： A. Mehdipour M. Kamarei School of Electrical and Computer Engineering Center of Excellence on Applied Electromagnetic Systems University of Tehran Iran

In this paper the optimized structural parameters of the multilayer high-speed MMICs are obtained to minimize the crosstalk of the orthogonal microstrip lines in 1-20 GHz frequency range. The crosstalk is calculated by lumped circuit model of the cross-region using quasi-static methods and solving the related coupled integral equations. The spectral domain Green's function of the structure has been determined by utilization of the real-valued images technique. By using predetermined lumped circuit model, the effects of the physical parameters such as dielectric constant, height and number of layers and width of the traces have been investigated on the coupling factor of crossing interconnections

关键词： Crosstalk Microstrip Coupling circuits Structural engineering Nonhomogeneous media MMICs Frequency Integral equations Green's function methods Dielectric constant

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