检索结果-内蒙古大学图书馆

IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Shile Li Seongyong Koo Dongheui Lee Chair of Automatic Control Engineering Department of Electrical Engineering and Computer Engineering Technische Universitat Munchen Munich Germany Autonomous Intelligent Systems (AIS) Group Computer Science Institute VI University of Bonn Germany

This paper presents a novel point-cloud descriptor for robust and real-time tracking of multiple objects without any object knowledge. Following with the framework of incremental model-free multiple object tracking from our previous work [5][7][6], 6 DoF pose of each object is firstly estimated with input point-cloud data which is then segmented according to the estimated objects, and incremental model of each object is updated from the segmented point-clouds. Here, we propose Joint Color-Spatial Descriptor (JCSD) to enhance the robustness of the pose hypothesis evaluation to the point-cloud scene in the particle filtering framework. The method outperforms widely used point-to-point comparison methods, especially in the partially occluded scene, which is frequently happened in the dynamic object manipulation cases. By means of the robust descriptor, we achieved unsupervised multiple object segmentation accuracy higher than 99%. The model-free multiple object tracking was implemented by using a particle filtering with JCSD as a likelihood function. The robust likelihood function is implemented with GPU, thus facilitating real-time tracking of multiple objects.

关键词： Data models Robustness Adaptation models Object tracking Three-dimensional displays Image color analysis Real-time systems

来源：评论

学校读者我要写书评

暂无评论

Generalization of optimal motion trajectories for bipedal walking

Generalization of optimal motion trajectories for bipedal wa...

引用

IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： A. Werner D. Trautmann Dongheui Lee R. Lampariello German Aerospace Center (DLR) Institute of Robotics and Mechatronics Chair of Automatic Control Engineering Department of Electrical and Computer Engineering Technische Universität München (TUM)

control of robot locomotion profits from the use of pre-planned trajectories. This paper presents a way to generalize globally optimal and dynamically consistent trajectories for cyclic bipedal walking. A small task-space consisting of stride-length and step time is mapped to spline parameters which fully define the optimal joint space motion. The paper presents the impact of different machine learning algorithms for velocity and torque optimal trajectories with respect to optimality and feasibility. To demonstrate the usefulness of the trajectories, a control approach is presented that allows general walking including transitions between points in the task-space.

关键词： Trajectory Legged locomotion Machine learning algorithms Cost function Splines (mathematics)

来源：评论

学校读者我要写书评

暂无评论

Construction of Approximations of Stochastic control Systems: A Compositional Approach

Construction of Approximations of Stochastic Control Systems...

引用

IEEE Annual Conference on Decision and control

作者： Majid Zamani Matthias Rungger Peyman Mohajerin Esfahani Department of Electrical and Computer Engineering Technische Universitat Munchen D-80290 Munich Germany Automatic Control Laboratory at ETH Zurich and the Risk Analytics and Optimization Chair at ETH Lausanne Switzerland

ISBN: (纸本)9781479978878

In this paper, we provide a compositional framework for the construction of infinite approximations of interconnected stochastic control systems. Our approach is based on a notion of so-called stochastic simulation functions that are associated with interfaces. The stochastic simulation functions are used to quantify the approximation error while the interfaces are used to lift the controllers synthesized for the approximation to the controllers for the original stochastic system. In the first part of the paper, we analyze interconnected stochastic control systems which consist of several stochastic control subsystems. We derive sufficient conditions that facilitate the compositional construction of stochastic simulation functions together with the associated interfaces. Specifically, we show how to construct a stochastic simulation function with the corresponding interface for the interconnected stochastic control system from the simulation functions and interfaces of the individual stochastic control subsystems. In the second part of the paper, we focus on linear stochastic control systems. We extend a methodology, which is known for the non-probabilistic case, to construct infinite approximations of linear stochastic control systems together with their stochastic simulation functions and the corresponding interfaces. Finally, we illustrate the effectiveness of the proposed results on the interconnection of four linear stochastic control subsystems.

关键词： Stochastic control systems emulation function control systems Stochastic approximation controllers Approximation error Interface Interfaces SUB-SYSTEM

来源：评论

学校读者我要写书评

暂无评论

State Space Grids for Low Complexity Abstractions

State Space Grids for Low Complexity Abstractions

引用

IEEE Annual Conference on Decision and control

作者： Matthias Rungger Alexander Weber Gunther Reissig Department of Electrical and Computer Engineering at the Technische Universitat Munchen 80333 Munich Germany University of the Federal Armed Forces Munich Dept. Aerospace Eng. Chair of Control Eng. (LRT-15) D-85577 Neubiberg (Munich) Germany

ISBN: (纸本)9781479978878

We consider an automated, algorithmic controller synthesis framework for perturbed nonlinear control systems to enforce complex specifications, in which an auxiliary transition system, also known as abstraction or symbolic model, is used as a finite substitute of the original control system in the controller design process. We specifically focus on reducing the computational effort to obtain abstractions, which is the most expensive step in the approach. To this end, we derive a functional to estimate the size of the abstraction, specifically, the number of transitions, and prove that after a suitable transformation the functional becomes strongly convex. Thus, the minimization of the estimated size of the abstraction is an unconstrained strongly convex optimization problem, which is straightforward to solve using standard methods. This permits us to use this functional as a heuristic to determine certain grid parameters for the construction of abstractions. We illustrate the benefits of the newly developed heuristic for two numerical examples.

关键词： Abstraction Heuristics FUNCTIONALS control systems design process state space Nonlinear control systems

来源：评论

学校读者我要写书评

暂无评论

26th Annual Computational Neuroscience Meeting (CNS*2017): Part 3 Antwerp, Belgium. 15-20 July 2017 Abstracts

引用

BMC NEUROSCIENCE 2017年第SUPPL 1期18卷 95-176页

作者： [Anonymous] Department of Neuroscience Yale University New Haven CT 06520 USA Department Physiology & Pharmacology SUNY Downstate Brooklyn NY 11203 USA NYU School of Engineering 6 MetroTech Center Brooklyn NY 11201 USA Departament de Matemàtica Aplicada Universitat Politècnica de Catalunya Barcelona 08028 Spain Institut de Neurobiologie de la Méditerrannée (INMED) INSERM UMR901 Aix-Marseille Univ Marseille France Center of Neural Science New York University New York NY USA Aix-Marseille Univ INSERM INS Inst Neurosci Syst Marseille France Laboratoire de Physique Théorique et Modélisation CNRS UMR 8089 Université de Cergy-Pontoise 95300 Cergy-Pontoise Cedex France Department of Mathematics and Computer Science ENSAT Abdelmalek Essaadi’s University Tangier Morocco Laboratory of Natural Computation Department of Information and Electrical Engineering and Applied Mathematics University of Salerno 84084 Fisciano SA Italy Department of Medicine University of Salerno 84083 Lancusi SA Italy Dipartimento di Fisica Università degli Studi Aldo Moro Bari and INFN Sezione Di Bari Italy Data Analysis Department Ghent University Ghent Belgium Coma Science Group University of Liège Liège Belgium Cruces Hospital and Ikerbasque Research Center Bilbao Spain BIOtech Department of Industrial Engineering University of Trento and IRCS-PAT FBK 38010 Trento Italy Department of Data Analysis Ghent University Ghent 9000 Belgium The Wellcome Trust Centre for Neuroimaging University College London London WC1N 3BG UK Department of Electronic Engineering NED University of Engineering and Technology Karachi Pakistan Blue Brain Project École Polytechnique Fédérale de Lausanne Lausanne Switzerland Departement of Mathematics Swansea University Swansea Wales UK Laboratory for Topology and Neuroscience at the Brain Mind Institute École polytechnique fédérale de Lausanne Lausanne Switzerland Institute of Mathematics University of Aberdeen Aberdeen Scotland UK Department of Integrativ

来源：评论

学校读者我要写书评

暂无评论

Optical coherence tomography for fingerprint acquisition from internal layer - A case study

Optical coherence tomography for fingerprint acquisition fro...

引用

Signal Processing Algorithms, Architectures, Arrangements and Applications (SPA)

作者： Przemysław Korohoda Adam Dąbrowski Paweł Pawłowski Faculty of Computer Science Electronics and Telecommunications Kraków POLAND Faculty of Computing Chair of Control and System Engineering Poznan POLAND

In this paper a problem of fingerprint-based biometric technique for the use in cases when the fingertips surface has been seriously damaged, making it impossible or extremely difficult to form a conventional reference pattern, is addressed. The optical coherence tomography (OCT) is considered as a method to acquire data enabling later reconstruction of the fingerprint pattern from the internal (mother) layer. A set of two procedures: the first converting the 3-dimensional data resulting from the OCT to the 2-dimensional raw fingerprint image and the second adapting this image to input data for simple, standard fingerprint recognition algorithms, are described. Both procedures make up a complete preprocessing tool. The data set consisted of 149 B-scans forming a 3-dimensional structure describing the surface and shallow internal layer of a part of a fingertip of a person with considerably damaged fingertip surface, making the recognition of the fingerprint with direct method impossible. The obtained results prove that the OCT technique can be efficiently used to solve the considered problem, and that the proposed algorithms form a tool that can be useful for larger databases.

关键词： Optical imaging Biomedical optical imaging Image recognition Lead Optical sensors Coherence

来源：评论

学校读者我要写书评

暂无评论

Hardware-in-the-loop type simulator of spark ignition engine control unit

Hardware-in-the-loop type simulator of spark ignition engine...

引用

International Symposium on Electrodynamic and Mechatronic System (SELM)

作者： J. Mamala S. Brol G. Graba Chair of Road and Agricultural Vehicles Opole University of Technology Opole Poland Institute of Control and Computer Engineering Opole University of Technology Opole Poland

The article presents simulator of injection-ignition system of internal combustion engine with spark ignition developed at the Technical University of Opole. This system is based on Bosch series engine ECU with software 7.5. It allows to analyze of motor parameters using both on-board diagnostic system, and data network CAN BUS under different operating conditions of the system. For this purpose, the simulator is equipped with a number of additional devices enable to generate repetitive input signals for the ECU, allowing to open the actual working conditions. Crucial for the simulator was to generate the signals informing ECU about the instantaneous position of the crankshaft and camshaft. For this purpose, the module Arduino was used. This type of solution allows, to recreate momentary engine operating conditions. This article also presents the concept of development with new features and sentences feasible for this type of device and simulation mode.

关键词： Ignition Camshafts Educational institutions Microprocessors Temperature measurement Sparks

来源：评论

学校读者我要写书评

暂无评论

Monitoring system of harmful substances emission at Compression Ignition engine with Exhaust Gas Recirculation

Monitoring system of harmful substances emission at Compress...

引用

International Symposium on Electrodynamic and Mechatronic System (SELM)

作者： M. Graba A. Bieniek Institute of Control and Computer Engineering Opole University of Technology Opole Poland Chair of Road and Agricultural Vehicles Opole University of Technology Opole Poland

This paper describes conception of harmful substances emission monitoring system integrated with control system of EGR (Exhaust Gas Recirculation) at off-highway vehicles CI (Compression Ignition) engine. Proposed system based on standard sensors as temperature, rotational speed and also air flow meter sensor. Empirical modeling with consideration of signals of above mentioned sensors allow estimation of harmful substances concentration in exhaust gases. The goal to introduce this monitoring system is to indicate such control of emission reduction system as EGR to achieve advantageous engine emission properties. It is required to collaborate monitoring system with EGR control system equipped with actuator as prototype EGR valve controlled during CAN Bus (controlled Area Network). Electronically controlled valve has very high precision and recurrence of opening steps what allow to realization of stable operated recirculation system. Besides of this possibility to flexible programming of valve operating mode allow to adapting of valve opening steps to CI engine operating condition changes. Replacement of expensive sensors specialized to measure chosen gas and matter concentration allow to minimizing cost of emission reduction systems applied at combustion engines. Publication included initial test bench research results of estimated exhaust gas and matter concentration. There are also proposed simple rules to application in advanced control algorithm of emission reduction system.

关键词： Engines Valves Mathematical model Temperature sensors Monitoring Sensor systems

来源：评论

学校读者我要写书评

暂无评论

Two-dimensional systems based iterative learning control for high-speed rack feeder systems 8

Two-dimensional systems based iterative learning control for...

引用

8th International Workshop on Multidimensional Systems, nDS 2013

作者： Paszke, Wojciech Aschemann, Harald Rauh, Andreas Galkowski, Krzysztof Rogers, Eric University of Zielona Góra Institute of Control and Computation Engineering ul.Licealna 9 Zielona Góra65-417 Poland Chair of Mechatronics University of Rostock Rostock18059 Germany Electronics and Computer Science University of Southampton SouthamptonSO17 1BJ United Kingdom

ISBN: (纸本)9783800735433

Many systems compete the same finite duration task over and over again, where once each is completed the system resets to the starting location and the next execution begins. Each execution is known as a trial and the duration is the trial length. Iterative learning control algorithms have been developed for such systems where the novel feature is the use of information from previous trials to update the control input for application on the next one. This paper uses the 2D systems structure of iterative learning control to design in one step a control law for trial-to-trial error convergence and along the trial transient dynamics. The analysis makes use of the generalized form of the Kalman-Yakubovich-Popov lemma and the design is evaluated in simulation on a high-speed rack feeder model as a prerequisite for experimental validation. © VDE VERLAG GMBH 2013.

关键词： Iterative methods

来源：评论

学校读者我要写书评

暂无评论

Model-Free control or Active Disturbance Rejection control? On different approaches for attenuating the perturbation

Model-Free Control or Active Disturbance Rejection Control? ...

引用

Mediterranean Conference on control and Automation (MED)

作者： Rafal Madoński Przemyslaw Herman Chair of Control and Systems Engineering Faculty of Computer Science Poznan University of Technology Poznan Poland

This paper is focused on a comparison between Model-Free control and Active Disturbance Rejection control methods. These two techniques do not require a detailed mathematical description of the system, since they base on the on-line estimation and rejection of the unmodeled elements of the dynamics. Robustness of the closed-loop control system (against external perturbation) and its relation to energy consumption is discussed here. A model of a planar manipulator is used in the conducted case study as an exemplary plant. Conclusions are supported with results obtained with numerical simulations.

关键词： Gears Scalability

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：