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IEEE International Conference on Fuzzy Systems (FUZZ-IEEE)

作者： M.H. Smith T. Zhang W.A. Gruver Department of Electrical Engineering and Computer Science University of California Berkeley CA USA Intelligent Robotics and Manufacturing Systems Laboratory Manufacturing Systems Laboratory Simon Fraser University Burnaby Canada

This paper discusses the swing-up control of a two link robot mechanism known as the Acrobot. Previously, a technique using meta-rules was proposed to compensate for external disturbances when using a dynamic fuzzy controller. In this paper, stability of the meta-rule system is analyzed from a global asymptotic stability viewpoint based on fuzzy characteristic matrices. These matrices are generated from the first phase of a three phase learning process involving the combination of genetic algorithms, dynamic switching fuzzy systems, and meta-rule techniques with the purpose of developing a better performing fuzzy controller.

关键词： Fuzzy control Stability Fuzzy systems Automatic control Fuzzy reasoning Robot kinematics Control systems Leg PD control Genetic algorithms

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Adaptive reconstruction using multiple views

Adaptive reconstruction using multiple views

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IEEE Southwest Symposium on Image Analysis and Interpretation

作者： M. Ulvklo H. Knutsson G. Granlund Div. of Sensor Technol. Defense Res. Establ. Linkoping Sweden Computer Vision Laboratory Department of Electrical Engineering Linkoping University Linkoping Sweden

This paper introduces a novel algorithm for extracting the optical flow obtained from a translating camera in a static scene. Occlusion between objects is incorporated as a natural component in a scene reconstruction strategy by first evaluating and reconstructing the foreground and then excluding its influence on the partly occluded objects behind.

关键词： Image motion analysis Cameras Layout Image reconstruction Optical sensors Spatiotemporal phenomena Sensor systems Infrared sensors Signal resolution Iterative algorithms

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Movement control system design for an artificial eye implant

Movement control system design for an artificial eye implant

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IEEE International Conference on Systems, Man and Cybernetics

作者： J. Gu M. Meng M.G. Faulkner A. Cook Department of Electrical and Computer Engineering Advanced Robotics and Teleoperation Laboratory Edmonton AB Canada Department of Mechanical Engineering University of Alberta Edmonton AB Canada Faculty of Rehabilitation Medicine University of Alberta Edmonton AB Canada

The main objective of the research project reported in this paper is to design an assistive device that will help patients with eye-implant to have natural eye movement. The patients lose their eye for various reasons. The loss of an eye can be solved by the ocular implant. The artificial eye can be made like a real eye cosmetically. But the problem is that it is static and does not have the natural movement of an eye. We design an ocular assistive system to enable the artificial eye have the natural movement of a real eye. This paper starts with the literature review of the eye movement detection methods and followed by the description of the experimental system we designed and constructed. The paper is concluded with further considerations.

关键词： Control systems Implants Servomotors Space vector pulse width modulation Eyelids Amorphous magnetic materials Magnetic separation Infrared sensors Medical control systems Medical robotics

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Uncalibrated vision for 3-D underwater applications

Uncalibrated vision for 3-D underwater applications

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OCEANS

作者： K. Plakas E. Trucco A. Fusiello Computer Vision Group and Ocean Systems Laboratory Department of Computing and Electrical Engineering Heriot-Watt University USA Dipartimento di Matematica e Informatica Universita di Udine Italy

We present an uncalibrated vision system recovering 3D reconstructions of underwater scenes using no camera calibration at all. The only information available is a set of point correspondences plus some a-priori knowledge on the scene structure. The system includes three main components: a robust tracker, which targets optimal features for video tracking, and implements a completely automatic mechanism for rejecting unstable image features; a module computing a projective reconstruction of the scene from the set of features declared reliable by the tracker; and a module recovering the target Euclidean reconstruction from the projective one, employing a-priori knowledge of the distances between five identifiable scene points. We sketch the design of each component and report experiments with our working implementation on real data sets, collected by cameras immersed in our laboratory tank.

关键词： Layout Cameras Image reconstruction computer vision Target tracking Application software Laboratories Machine vision Calibration Underwater tracking

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Applications of direct 3D motion estimation for underwater machine vision systems

Applications of direct 3D motion estimation for underwater m...

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OCEANS

作者： S. Nagahdaripour X. Xu A. Khamene Dept. of Electr. & Comput. Eng. Miami Univ. Coral Gables FL USA Underwater Vision and Imaging Laboratory Electrical and Computer Engineering Department University of Miami Coral Gables FL USA

vision can provide unique capabilities under favorable visibility conditions during the operation of intelligent or autonomous underwater vehicles in deep ocean. We describe a real time vision system for positioning and station keeping, navigation, and sea floor image mosaicing. These developments exploit a direct methodology for 3D motion estimation from time varying underwater imagery. We present sample results from experiments for evaluating the performance and accuracy of the system, based on measurements from an independent sensor.

关键词： Motion estimation Intelligent vehicles Machine intelligence Underwater vehicles Oceans Real time systems Machine vision Navigation Sea floor Sea measurements

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Production Control as a Complex Dynamic Object

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IFAC Proceedings Volumes 1998年第20期31卷 517-520页

作者： Peter Groumpos Bary Ilyasov Larisa Ismagilova Roza Valeeva University of Patras Department of Electrical and Computer Engineering Laboratory for Automation & Robotics GR-265 00 Rion Greece Fax: +30 61 997 309 Ufa State Aviation Technical University Department of Technical Cybernetics 12 K.Marx Street Ufa 450000 Russia Fax: (347-2) 22-29-18 Ufa State Aviation Technical University Department of Technical Cybernetics 12 K.Marx Street Ufa 450000 Russia Fax: (347-2) 22-29-18

The problem of production control as of a complex dynamic object is under discussion. There are elaborated and studied intelligent control algorithms using modelling results of system functioning dynamics which testify to uncertainty of environment. The proposed procedure of information exchange allows to unit effectively the dynamic and intelligent algorithms as well as man participation in decision making.

关键词： Production control dynamic models decision support systems

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On asymptotic convergence of the dual filters associated with two families of biorthogonal wavelets

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IEEE TRANSACTIONS ON SIGNAL PROCESSING 1997年第12期45卷 2928-2940页

作者： Wei, D Bovik, AC Laboratory for Vision Systems Department of Electrical and Computer Engineering University of Texas Austin Austin TX USA

The asymptotic behavior of the dual filters associated with biorthogonal spline wavelet (BSW) systems and general biorthogonal Coifman wavelet (GBCW) systems are studied. As the order of the wavelet systems approaches infinity, the magnitude responses of the dual filters in the BSW systems either diverge or converge to some nonideal frequency responses. However, the synthesis filters in the GBCW systems converge to an ideal halfband low pass filter without exhibiting any Gibbs like phenomenon, and a subclass of the analysis filters also converge to an ideal halfband lowpass filter but with a one-sided Gibbs-like behavior. The two approximations of the ideal lowpass filter by the filter associated with a Daubechies orthonormal wavelet and by the synthesis filter in a GBCW system of the same order are compared. Such a study of the asymptotic behaviors of wavelet systems provides insightful characterization of these systems and systematic assessment and global comparison of different wavelet systems.

关键词： Convergence Filters H infinity control Frequency response Wavelet analysis Spline Transfer functions Lagrangian functions Machine vision Gaussian processes

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Geometry and thermal regulation of GMA welding via conventional and neural adaptive control

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JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS 1997年第2期19卷 153-186页

作者： Tzafestas, SG Rigatos, GG Kyriannakis, EJ Department of Electrical and Computer Engineering Intelligent Robotics and Automation Laboratory National Technical University of Athens Athens Greece

This paper investigates the application of conventional and neural adaptive control schemes to Gas Metal Are (GMA) welding. The goal is to produce welds of high quality and strength. This can be achieved through proper on-line control of the geometrical and thermal characteristics of the process. The welding process is variant in time and strongly nonlinear, and is subject to many defects due to improper regulation of parameters like arc voltage and current, or travel speed of the torch. Adaptive control is thus naturally a very good candidate for the regulation of the geometrical and thermal characteristics of the welding process. Here four adaptive control techniques are reviewed and tested, namely: model reference adaptive control (MRAC), pseudogradient adaptive control (PAC), multivariable self-tuning adaptive control (STC), and neural adaptive control (NAC). Extensive numerical results are provided, together with a discussion of the relative merits and limitations of the above techniques.

关键词： gas metal arc (GMA) welding geometric characteristics thermal characteristics adaptive control pseudogradient control self-tuning control neural adaptive control regulation of GMA welding

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Loss of perfect reconstruction in multidimensional filterbanks and wavelets designed via extended McClellan transformations

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IEEE SIGNAL PROCESSING LETTERS 1997年第10期4卷 295-297页

作者： Wei, D Evans, BL Bovik, AC Laboratory for Vision Systems Department of Electrical and Computer Engineering University of Texas Austin Austin TX USA

Two extensions of the McClellan transformation have been proposed to transform even-length symmetric one-dimensional (1-D) prototype filters into even/odd-length multidimensional filters. We show that, unlike the original McClellan transformation, the two extended McClellan transformations suffer from a limitation in the design of multidimensional two-channel finite impulse response (FIR) perfect reconstruction (PR) filterbanks and wavelets in the sense that there does not exist ally transformation function that can preserve PR after transformation, However, for one of the transformations, we point out that near-PR filterbanks are possible.

关键词： Multidimensional systems Finite impulse response filter Prototypes Filter bank Frequency response Polynomials Wavelet transforms Design methodology engineering profession

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1.5V resistive fuse for image smoothing and segmentation

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ELECTRONICS LETTERS 1997年第10期33卷 851-852页

作者： Athreya, JKV Gregson, PH Department of Electrical Engineering Computer Vision and Image Processing Laboratory Technical University of Nova Scotia Halifax Canada

A 1.5V resistive fuse for image smoothing and segmentation using bulk-driven MOSFETs is presented. The circuit switches on only if the differential voltage applied across its input terminals is less than a set voltage;it switches off if the differential voltage is higher than the set value. The useful operation range of the circuit is 0.4V with a supply voltage of 1.5V and threshold voltages of V-Tn = 0.828V and V-Tp = -0.56V for n and g channel MOSFETs, respectively.

关键词： image processing segmentation (image processing)

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