检索结果-内蒙古大学图书馆

World Congress on intelligent Control and automation (WCICA)

作者： Fei Yang Jingwen Dai Dan Liu Department of Automation & Research Center of Intelligent Robotics Shanghai Jiaotong University Shanghai China

The eyes are the most important facial landmarks on human face, for both human computer communication and face normalization. It is crucial to detect and locate the eyes accurately. This paper introduces a novel and simple method for eye localization. Based on the special gray lever distribution in the eye region, the spectral residual model is exploited to extract the rough eye region primarily. And then a coarse-to-fine searching strategy is adopted to locate the exact eye position. Compared with the Gabor transformation, the spectral residual transformation is lower in computational cost and more accurate in eye extraction. Some other experiments are carried out to investigate its robustness on variations of pose, orientation, scale, expression and illumination. More important, the proposed eye extraction method can be easily incorporated in other eye detection approaches as a combined processing module or employed in a real-time application.

关键词： Face Pattern recognition Computational modeling Feature extraction Robustness Databases Algorithm design and analysis

来源：评论

学校读者我要写书评

暂无评论

Handling qualities evaluation for spacecraft docking in low earth orbit

Handling qualities evaluation for spacecraft docking in low ...

引用

作者： Mueller, Eric Bilimoria, Karl D. Frost, Chad NASA Ames Research Center Moffett Field CA 94035 United States Automation Concepts Research Branch M/S 210-10 United States Autonomous Systems and Robotics Intelligent Systems Division M/S 269-1 United States

ISBN: (纸本)9781563479458

A new generation of spacecraft is now under development by NASA to replace the Space Shuttle and return astronauts to the Moon. These spacecraft will have a manual control capability for several mission tasks, and the ease and precision with which pilots can execute these tasks will have an important effect on mission risk and training costs. A simulation evaluated the handling qualities of a generic space vehicle based on dynamics similar to one of these spacecraft, NASA's Crew Exploration Vehicle, during the last segment of the docking task with a space station. This handling qualities evaluation looked at four different translational control systems, two of which are available in current space vehicles and two of which were adapted from aeronautical vehicle control system designs. These response types were flown with three levels of translation-into-rotation dynamic coupling arising from a longitudinal offset between the reaction control system thrusters and the vehicle's center of mass. The effect of variations in jet thrust was also measured for a single response type. The results indicate that greater translation-into-rotation coupling is strongly correlated with degraded handling qualities, but that different response types do not have a major effect on pilot workload, final docking performance, or overall handling qualities.

关键词： Quality control

来源：评论

学校读者我要写书评

暂无评论

Robust control of space robot for capturing objects using optimal control method

Robust control of space robot for capturing objects using op...

引用

International Conference on Information Acquisition, ICIA 2007

作者： Huang, Panfeng Yan, Jie Yuan, Jianping Xu, Yangsheng Research Center for Intelligent Robotics College of Astronautics Northwestern Polytechnical University Xi'an China Department of Mechanical and Automation Engineering Chinese University of Hong Kong Hong Kong

ISBN: (纸本)1424412196

The capturing operation for the space object by space robot can not be avoided in order to complete the on-orbital services, such as repairing, maintaining, inspecting and exchanging orbital replace unit (ORU). However, there are some unknown factors, such as the unknown payload and unknown modeling of object and the other uncertain dynamic parameters in the space robot, will affect the performance and the security of the space robot when the space robot captures the unknown object. Therefore, it is significant to design a robust control law that will guarantee the performance and security of the space robot under these uncertainties. Here, we propose a new optimal control method to robust control of space robot. To design the robust control law, we translate the robust control problem into an optimal control problem, where the uncertainties are reflected in the objective function index. We optimize this objective function to realize the robust control. An illustrative example shows that the proposed approach is remarkable. ©2007 IEEE.

关键词： Robust control

来源：评论

学校读者我要写书评

暂无评论

Robust Control of Space Robot for Capturing Objects Using Optimal Control Method

Robust Control of Space Robot for Capturing Objects Using Op...

引用

International Conference on Information and automation (ICIA)

作者： Panfeng Huang Jie Yan Jianping Yuan Yangsheng Xu Research Center for Intelligent Robotics College of Astronautics Northwestern Polytechnical University Xi'an China Department of Mechanical and Automation Engineering Hong Kong China

The capturing operation for the space object by space robot can not be avoided in order to complete the on- orbital services, such as repairing, maintaining, inspecting and exchanging orbital replace unit (ORU). However, there are some unknown factors, such as the unknown payload and unknown modeling of object and the other uncertain dynamic parameters in the space robot, will affect the performance and the security of the space robot when the space robot captures the unknown object. Therefore, it is significant to design a robust control law that will guarantee the performance and security of the space robot under these uncertainties. Here, we propose a new optimal control method to robust control of space robot. To design the robust control law, we translate the robust control problem into an optimal control problem, where the uncertainties are reflected in the objective function index. We optimize this objective function to realize the robust control. An illustrative example shows that the proposed approach is remarkable.

关键词： Robust control Orbital robotics Optimal control Uncertainty intelligent robots robotics and automation Manipulator dynamics Security Open loop systems Space missions

来源：评论

学校读者我要写书评

暂无评论

Motion Trajectory Planning of Space Manipulator for Joint Jerk Minimization

Motion Trajectory Planning of Space Manipulator for Joint Je...

引用

IEEE International Conference on Mechatronics and automation

作者： Panfeng Huang Kai Chen Jianping Yuan Yangsheng Xu Research Center for Intelligent Robotics College of Astronautics Northwestern Polytechnical University Xi'an China Department of Mechanical and Automation Engineering Chinese University of Hong Kong Hong Kong China

The jerk, the third derivative of position of desired joint trajectory, adversely affects the efficiency of the control algorithms and stabilization of whole space robot system and therefore should be minimized. On the other hand, the importance of minimizing the jerk is to reduce the vibrations of manipulator. In this formulation, a global genetic-approach determines the trajectory by minimizing the maximum jerk in joint space. The planning procedure is performed with respect to all constraints, such as joint angle constraints, joint velocity constraints, joint angular acceleration and torque constraints, and so on. We use an genetic algorithm to search the optimal joint inter-knot parameters in order to realize the minimum jerk. These joint inter-knot parameters mainly include joint angle and joint angular velocities. The simulation result shows that GA-based minimum-jerk trajectory planning method has satisfactory performance and real significance in engineering.

关键词： Trajectory Orbital robotics Manipulator dynamics Motion planning robotics and automation Path planning intelligent robots Minimization methods Control systems Genetic algorithms

来源：评论

学校读者我要写书评

暂无评论

A Study On Iterative Learning Control With Adjustment Of Learning Interval For Monotone Convergence In The Sense Of Sup-Norm

引用

Asian Journal of Control 2008年第1期4卷

作者： Kwang-Hyun Park Zeungnam Bien Division of EE Department of EECS Korea Advanced Institute of Science and Technology 373–1 Kusong-dong Yusong-gu Taejon 305–701 Korea. Zeungname Bien:received the B.S. degree in electronics engineering from Seoul National University Seoul Korea in 1969 and the M.S. and Ph.D. degrees in electrical engineering from the University of Iowa Iowa City Iowa U.S.A. in 1972 and 1975 respectively. During 1976–1977 academic years he taught as assistant professor at the Department of Electrical Engineering University of Iowa. Then Dr. Bien joined Korea Advanced Institute of Science and Technology summer 1977 and is now Professor of Control Engineering at the Department of Electrical Engineering and Computer Science KAIST. Dr. Bien was the president of the Korea Fuzzy Logic and Intelligent Systems Society during 1990–1995 and also the general chair of IFSA World Congress 1993 and for FUZZ-IEEE99 respectively. He is currently co-Editor-in-Chief for International Journal of Fuzzy Systems (IJFS) Associate Editor for IEEE Transactions on Fuzzy Systems and a regional editor for the International Journal of Intelligent Automation and Soft Computing. He has been serving as Vice President for IFSA since 1997 and is now Chief Chairman of Institute of Electronics Engineers of Korea and Director of Humanfriendly Welfare Robot System Research Center. His current research interests include intelligent control methods with emphasis on fuzzy logic systems service robotics and rehabilitation engineering and large-scale industrial control systems. Kwang-Hyun Park:received the B.S. M.S. and Ph.D. degrees in electrical engineering and computer science from KAIST Korea in 1994 19997 and 2001 respectively. He is now a researcher at Human-friendly Welfare Robot System Research Center. His research interests include learning control machine learning human-friendly interfaces and service robotics.

It has been found that some huge overshoot in the sense of sup-norm may be observed when typical iterative learning control (ILC) algorithms are applied to LTI systems, even though monotone convergence in the sense of λ-norm is guaranteed. In this paper, a new ILC algorithm with adjustment of learning interval is proposed to resolve such an undesirable phenomenon, and it is shown that the output error can be monotonically converged to zero in the sense of sup-norm when the proposed ILC algorithm is applied. A numerical example is given to show the effectiveness of the proposed algorithm.

关键词： Iterative learning control monotone convergence learning interval sup-norm

来源：评论

学校读者我要写书评

暂无评论

Moment-based shape priors for geometric active contours

Moment-based shape priors for geometric active contours

引用

18th International Conference on Pattern Recognition, ICPR 2006

作者： Fuzhen, Huang Jianbo, Su Department of Automation and Research Center of Intelligent Robotics Shanghai Jiaotong University Shanghai 200240 China

ISBN: (纸本)0769525210

In this paper a new method that incorporates moment-based shape information into geometric active contours is presented. As any shape may theoretically be characterized by its set of moments, the shape prior is represented based on Legendre moments. By combining the shape prior with the powerful geometric active contours proposed by Chan and Vese, the improved model can retain all the advantage of the Chan-Vese model and have the additional ability of being able to compactly represent global shape of an object. Experiments on synthetic and real image segmentation show the efficiency of our method. © 2006 IEEE.

关键词： Method of moments

来源：评论

学校读者我要写书评

暂无评论

Gaze control on humanoid robot head

Gaze control on humanoid robot head

引用

6th World Congress on intelligent Control and automation, WCICA 2006

作者： Lizhong, Gu Jianbo, Su Department of Automation Research Center of Intelligent Robotics Shanghai Jiaotong University Shanghai 200240 China

ISBN: (纸本)1424403324

This paper presents a general gaze control algorithm for humanoid robot head. Gaze control is an essential visual behavior for human-robot interaction. Calculation of the distance to fixation point is a first step to accomplish coordinated head-eye movements on humanoid robot head. We solved the problem of obtaining depth information under the condition of two eyes gazing at the point. Then we derived kinematics mathematical models of coordinated head-eye movements according to the geometry constraint of the robot head. A general humanoid robot head has been developed and experimental results demonstrate the effectiveness of the proposed algorithm. © 2006 IEEE.

关键词： Mobile robots

来源：评论

学校读者我要写书评

暂无评论

Gaze Control on Humanoid Robot Head

Gaze Control on Humanoid Robot Head

引用

World Congress on intelligent Control and automation (WCICA)

作者： Lizhong Gu Jianbo Su Department of Automation & Research Center of Intelligent Robotics Shanghai Jiaotong University Shanghai China

关键词： Robot control Humanoid robots Head Robot kinematics Eyes Humans Automatic control intelligent robots Neck robotics and automation

来源：评论

学校读者我要写书评

暂无评论

Moment-based Shape Priors for Geometric Active Contours

Moment-based Shape Priors for Geometric Active Contours

引用

International Conference on Pattern Recognition

作者： Fuzhen Huang Jianbo Su Department of Automation & Research Center of Intelligent Robotics Shanghai Jiaotong University Shanghai China

ISBN: (纸本)0769525210

关键词： Active contours Solid modeling Image segmentation Active shape model Level set robotics and automation intelligent robots Image processing Performance analysis Pattern recognition

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：