Global increase in trade leads to congestion of maritime traffic at the ports. This often leads to increased maritime incidents or near-miss situations. To improve maritime safety while maintaining efficiency, movemen...
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ISBN:
(纸本)9781510855076
Global increase in trade leads to congestion of maritime traffic at the ports. This often leads to increased maritime incidents or near-miss situations. To improve maritime safety while maintaining efficiency, movement of vessels needs to be better coordinated Our work formulates this problem of co-ordinating the paths of vessels as a multi-agent path-finding (MAPF) problem. To address this problem, we introduce an innovative application of MAPF in the maritime domain known as Vessel Coordination Module (VCM). Based on the local search paradigm, VCM plans on a joint state space updated using the Electronic Navigation Charts (ENC) and the paths of vessels We introduce the notion of path quality that measures the number of positions on a vessel path that is too close to some other vessels spatially and temporally. VCM aims to improve the overall path quality of vessels by improving path quality of selected vessels. Experiments are conducted on the Singapore Straits to evaluate and compare performance of our proposed approach in heterogeneous maritime scenario Our experiment results show that VCM can improve the overall path quality of the vessels.
The fields of music, health, and technology have seen significant interactions in recent years in developing music technology for health care and well-being. In an effort to strengthen the collaboration between the in...
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Future minimization,i.e.,discrete time-varying minimization,is a difficult and meaningful *** has been successfully solved by Zhang et al using zeroing dynamics(ZD) and discretization *** this paper,a type of discrete...
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Future minimization,i.e.,discrete time-varying minimization,is a difficult and meaningful *** has been successfully solved by Zhang et al using zeroing dynamics(ZD) and discretization *** this paper,a type of discrete-time ZD(DT-ZD) model,which is obtained via utilizing Zea D(Zhang et al Discretization) formula 4 I2)S Y,is analyzed and investigated to ensure its ***,via theoretical guarantees,we propose the step-length domain,or say,the effective domain of the step-length,which makes the discrete-time model ***,we make further efforts to obtain the step-length optimum which provides the optimal stability of the DT-ZD ***,numerical experiments are performed to validate the step-length domain and the step-length optimum of the DT-ZD model for future minimization.
For quadratic minimization(QM), it is usually assumed that the solution objective is time-invariant and at the same level. However, the QM is always time-varying(i.e., naturally and implicitly dynamic) and may be at d...
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For quadratic minimization(QM), it is usually assumed that the solution objective is time-invariant and at the same level. However, the QM is always time-varying(i.e., naturally and implicitly dynamic) and may be at different levels(i.e., explicitly dynamic) in practice. In this paper, different from the general QM, a novel different-level dynamic QM(DLDQM) is proposed and investigated. First, the DLDQM solving is split up into two general time-varying QM(TVQM) solving. Then, a solution model is thus proposed and investigated for the DLDQM, by applying square root matrix based Zhang equivalency and Moore-Penrose(MP) generalized inverse. In addition, it is worth pointing out that solving the DLDQM is a new and important attempt of this research. Finally, illustrative numerical experiments are conducted with numerical results presented and analyzed.
This paper introduces Zhang neurodynamics(ZN) method and Zhang-gradient(ZG) method used to design ZN and ZG controllers for the output tracking of systems, especially time-varying nonlinear system. Thereinto, ZG metho...
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This paper introduces Zhang neurodynamics(ZN) method and Zhang-gradient(ZG) method used to design ZN and ZG controllers for the output tracking of systems, especially time-varying nonlinear system. Thereinto, ZG method is composed of the ZN method and gradient neurodynamics(GN) method. By applying the ZN method and the ZG method, respectively, to the output tracking control problems of time-varying linear(TVL) system and time-varying nonlinear(TVN) system, specific ZN controllers and ZG controllers are obtained. Particularly, TVL system and TVN system discussed in this paper may both have pseudo division-by-zero phenomena. From the numerical results, though ZN controllers and ZG controllers perform the output tracking of TVL system and TVN system well, the infinite value of the former and the finite value of the latter at singular instants verify that the ZG method is more effective in dealing with pseudo division-by-zero problem.
In this paper,based on Zhang dynamics method(ZDM),a cyclic motion planning(CMP) scheme is developed to remedy the joint drift phenomenon of redundant robot manipulators constrained by joint physical *** existing w...
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In this paper,based on Zhang dynamics method(ZDM),a cyclic motion planning(CMP) scheme is developed to remedy the joint drift phenomenon of redundant robot manipulators constrained by joint physical *** existing works resolved at velocity level or acceleration level,the scheme in this paper is resolved at jerk *** achieve superior performance,the jerk-level CMP scheme is improved by the feedback control,which further leads to a jerk-level cyclic motion planning and control(CMPC) *** cyclic motion criterion and the avoidance of joint physical limits(e.g.,joint-angle,joint-velocity,joint-acceleration and joint-jerk limits) are both considered into the jerklevel CMP and CMPC *** importantly,the correctness of the presented jerk-level schemes is guaranteed by the corresponding engineering-type theoretical analyses and ***,the jerk-level CMPC scheme is reformulated as a dynamical quadratic program(DQP) which can be solved by a piecewise-linear projection equation neural network(PLPENN),and also can be solved by a suitable numerical algorithm.
In this paper, a jerk-level cyclic motion planning and control(CMPC) scheme is presented to remedy the joint drift phenomenon of the constrained redundant robot manipulators(CRRM). Furthermore, the path-tracking s...
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In this paper, a jerk-level cyclic motion planning and control(CMPC) scheme is presented to remedy the joint drift phenomenon of the constrained redundant robot manipulators(CRRM). Furthermore, the path-tracking simulations are presented to substantiate the effectiveness and accuracy of the jerk-level CMPC scheme. Comprehensive and detailed comparisons between the presented jerk-level CMPC scheme and other existing schemes [i.e., the Jacobian pseudo-inverse based(JPIB) scheme, the minimum jerk norm(MJN) scheme and the acceleration-level cyclic motion planning(ALCMP) scheme] illustrate that the presented CMPC scheme resolved at jerk level is superior and more applicable.
Hand gesture recognition plays an important role in human-computer interaction. With the development of depth cameras, color images combined with depth images can provide richer information for hand gesture recognitio...
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Hand gesture recognition plays an important role in human-computer interaction. With the development of depth cameras, color images combined with depth images can provide richer information for hand gesture recognition. In this paper, we propose a hand gesture recognition system based on the data captured by Intel RealSense Front-Facing Camera SR300. Considering that the pixels in depth images collected by RealSense are not one-to-one to those in color images, the recognition system maps depth images to color images based on generalized Hough transform in order to segment hand from a complex background in color images using the depth information. Then, it recognizes different hand gestures by a novel double-channel convolutional neural network containing two input channels which are color images and depth images. Moreover, we built a hand gesture database of 24 different kinds of hand gestures representing 24 letters in the English alphabet. It contains a total of 168,000 images which are 84,000 RGB images and 84,000 depth images. Experimental results on our newly collected hand gesture database demonstrate the effectiveness of the proposed approach, and the recognition accuracy is 99.4%.
In the above article [1] , the affiliations of authors Lihong Dai and Yang Gao need to be corrected. Moreover, the biography of Yang Gao needs to be corrected. The specific corrections are as follows.
In the above article [1] , the affiliations of authors Lihong Dai and Yang Gao need to be corrected. Moreover, the biography of Yang Gao needs to be corrected. The specific corrections are as follows.
—Morphological reconstruction (MR) is often employed by seeded image segmentation algorithms such as watershed transform and power watershed as it is able to filter seeds (regional minima) to reduce over-segmentation...
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