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IEEE Transactions on Haptics: Editorial

IEEE Transactions on Haptics 2008年第1期1卷 2-8页

作者： Edward Colgate, J. Lederman, Susan Prattichizzo, Domenico Barbagli, Federico Basdogan, Cagatay Buss, Martin Ernst, Marc Frisoli, Antonio Gillespie, Brent Grant, Danny Harders, Matthias Hayward, Vincent Jones, Lynette Kajimoto, Hiroyuki Kappers, Astrid Kheddar, Abderrahmane Lin, Ming C. MacLean, Karon Miller, Brian Noma, Haruo Okamura, Allison M. O'Malley, Mareia Ryu, Jeha Tan, Hong Z. Yokokohji, Yasuyoshi Department of Psychology School of Computing Queen's University Canada IEEE Robotics and Automation Society Tübingen Germany Stanford University's Computer Science Department Tübingen Germany Institute of Automatic Control Engineering Technische Universität München Germany Independent Research Group Multisensory Perception and Action Max Planck Institute for Biological Cybernetics Tübingen Germany Department of Applied Mechanics SSSA Japan Research Division Virtual Reality and Telerobotic Systems PERCRO Laboratory Japan Department of Mechanical Engineering Japan Department of Robotics McGill University Canada Computer Vision Lab ETH Zurich Japan Virtual Reality in Medicine Group Japan IEEE CS/RAS Technical Committee on Haptics Japan Department of Electrical and Computer Engineering McGill University Canada Department of Mechanical Engineering MIT Japan University of Electro-Communications Japan Department of Physics and Astronomy Utrecht University Netherlands University of Evry France Chapel Hill United States Department of Computer Science University of British Columbia Canada ATR Knowledge Science Lab United Kingdom Department of Mechanical Engineering Denmark Johns Hopkins University United States Laboratory for Computational Sensing and Robotics United Kingdom Engineering Research Center for Computer-Integrated Surgical Systems and Technology United States Mechanical Engineering and Materials Science Department Rice University United States Korea Republic of Department of Electrical and Computer Engineering Mechanical Engineering and Psychological Sciences Purdue University United States Department of Mechanical Engineering and Science Graduate School of Engineering Kyoto University Japan

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Global robust synchronization of the Duffing system and Van der Pol oscillator

Global robust synchronization of the Duffing system and Van ...

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IEEE Conference on Decision and control

作者： Weijie Sun Daizhan Cheng Jie Huang College of Automation Science and Engineering South China University of Technology Guangzhou China Institute of Mathematics and System Science Chinese Academy and Sciences Beijing China Laboratory of Applied Control and Computing Department of Mechanical and Automation Engineering Chinese University of Hong Kong New Territories Hong Kong China

In this paper, we study the global robust synchronization problem of the controlled Duffing system and the Van der Pol oscillator. By employing the internal model approach, we first show that the problem can be converted into a global robust stabilization problem of a time-varying nonlinear system in lower triangular form. Then we show that the global stabilization problem of the lower triangular system is solvable, thus leading to the solution of the global robust synchronization problem.

关键词： Robustness Oscillators control systems Robust control Time varying systems Nonlinear systems Partial differential equations Automatic control Sun Output feedback

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An Effective and Robust Pedestrians Detecting Algorithm & Symposia

An Effective and Robust Pedestrians Detecting Algorithm & Sy...

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International Conference on Intelligent Transportation

作者： Zhipeng Li Yun Sun Fuqiang Liu Wenhuan Shi Key Laboratory of Embedded System and Service Computing supported by Ministry of Education University of Tongji Shanghai China School of Electronics and Information Engineering University of Tongji Shanghai China Department of Control Science and Technology Shanghai Jiaotong University Shanghai China

In this paper, we present a pedestrian detection approach using spatial histograms of oriented gradients feature. As spatial histograms of oriented gradients consist of marginal distributions of an image over local and global patches, they can preserve shape and contour of a pedestrian simultaneously. There are two main contributions in this paper. First of all, we expand the histograms of oriented gradients features from single-size to variable-size which can capture local and global feature of pedestrian automatically. We call theses feature as the "spatial histograms of oriented gradients". Secondly, we employ histogram similarity and Fisher criterion to measure discriminability of features and select some discriminative features to identify the pedestrian. SVM classifier is constructed to train the selected features from target and surrounding background. The proposed algorithm is tested on some public database. Experimental results show that the proposed approach is efficient and rapid in pedestrian detection.

关键词： Robustness Conferences Histograms Support vector machines Shape Intelligent transportation systems Sun Support vector machine classification Computer vision Image edge detection

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Wavelet Transform Use for Feature Extraction and EEG Signal Segments Classification

Wavelet Transform Use for Feature Extraction and EEG Signal ...

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3rd International Symposium on Communications, control, and Signal Processing (ISCCSP 2008), vol.2

作者： Ales Prochazka Jaromir Kukal Oldrich Vysata Department of Computing and Control Engineering Institute of Chemical Technology in Prague Prague Czech Republic Neurocenter Caregroup Rychnov nad Kneznou Czech Republic

Segmentation, feature extraction and classification of signal components belong to very common problems in various engineering, economical and biomedical applications. The paper is devoted to the use of discrete wavelet transform (DWT) both for signal preprocessing and signal segments feature extraction as an alternative to the commonly used discrete Fourier transform (DFT). Feature vectors belonging to separate signal segments are then classified by a competitive neural network as one of methods of cluster analysis and processing. The paper provides a comparison of classification results using different methods of feature extraction most appropriate for EEG signal components detection. Problems of multichannel segmentation are mentioned in this connection as well.

关键词： Segmentation Change-point detection Feature extraction Classification Multichannel signal processing Discrete wavelet transform Neural networks

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Computational issues of signal analysis in time domain

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WSEAS Transactions on Computers 2007年第1期6卷 1-8页

作者： Hlupić, Nikica Basch, Danko Fertalj, Krešimir Department of Applied Computing University of Zagreb Faculty of Electrical Engineering and Computing Unska 3 Zagreb 10000 Croatia Department of Control and Computer Engineering University of Zagreb Faculty of Electrical Engineering and Computing Unska 3 Zagreb 10000 Croatia

This paper elaborates the present stage predictable direction of future development of Sine Wave Calculator (SWC), a simple method for signal analysis in time domain that provides accuracy comparable to the best classical methods (relative errors about few times 10-6). The main SWC advantages are extreme simplicity, possibility of selection of samples and straightforward calculations, which makes it preferable solution for quick implementation. The main shortage is still unknown mathematical analysis of errors, which are probably unequal for different signal parameters.

关键词： Spectrum analysis

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Transfer function identification by using self-oscillations

Transfer function identification by using self-oscillations

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2007 Mediterranean Conference on control and Automation, MED

作者： Miškovic, N. Vukic, Z. Barišic, M. University of Zagreb Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering Zagreb Croatia

ISBN: (纸本)142441282X

The work presented in this paper deals with the process of transfer function identification by using self-oscillation method (autotuning identification method). The algorithm is given in a general matrix form and some modifications are introduced. The modifications of the algorithm include augmentation of the initial algorithm for Type k systems, systems with delays and discrete-time systems. The paper also includes simulation examples which describe the introduced modifications. Apart from being rather simple, this method is applicable to real systems. Its greatest advantage is quick identification of a transfer function (depends on the system). ©2007 IEEE.

关键词： Transfer functions

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Kinematic simulative analysis of virtual potential field method for AUV trajectory planning

Kinematic simulative analysis of virtual potential field met...

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2007 Mediterranean Conference on control and Automation, MED

作者： Barisic, M. Vukic, Z. Miskovic, N. University of Zagreb Faculty of Electrical Engineering and Computing Department of Computer and Control Engineering Zagreb Croatia

ISBN: (纸本)142441282X

This paper deals with an analysis of applicability, capabilities, benefits and pitfalls of using a virtual potential field approach to autonomously planning trajectories in non-communicating autonomous underwater vehicles (AUV-s). Virtual potentials represent an approach to this problem with cross-layer design features. Examples of different layers of control that can be achieved with the same fundamental approach are: obstacle-avoidance, energy-optimal trajectories, forming up with other moving agents, controlled formation fragmentation into well-posed sub-formation etc. This paper shows, on the basis of extensive simulated experiments, that such a trajectory planner based on virtual potentials, guarantees good extendibility, scalability and performance in a hard-real-time hardware-in-the-loop system. ©2007 IEEE.

关键词： Trajectories

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Chaotic behavior of new experimental data of the LTGP (2004-2006) confirm possible relation to seismic activity in Western Greece

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Journal of Physics: Conference Series 2008年第1期96卷

作者： Giannakopoulos, K. Ifantis, A. Electronics Laboratory Department of Physics University of Patras Patras 26500 Greece Digital Systems and Media Computing Laboratory Faculty of Sciences and Technology Hellenic Open University Patras 26222 Greece Control Systems and Signals Laboratory Department of Electrical Engineering Technological Educational Institute of Patras Patras 26334 Greece Seismological Laboratory Department of Geology University of Patras Patras 26500 Greece

Observations of the long-term geoelectric potential (LTGP) difference are presented in this paper. The data have been collected during a three-year (2004-2006) investigating period. Moreover, this paper constitutes a continuation of two previously published works with eleven-year (1993-2003) experimental data. For data logging purposes, an automatic system for collection, transfer and processing of geoelectric measurements operates at the Seismological Laboratory of the University of Patras. The analysis of these data using Lyapunov exponents and Takens estimator confirm their quite chaotic behavior. The Lyapunov exponents have also been calculated for short periods of twenty days, i.e. ten days before and ten days after the earthquakes occurred during this three-year period. By thorough examination of the resulting Lyapunov spectrums, it seems that these are subject to possible changes prior to an earthquake. © 2008 IOP Publishing Ltd.

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Trends in marine control systems

Trends in marine control systems

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作者： Roberts, Geoff N. Control Theory and Applications Centre Faculty of Engineering and Computing Coventry University United Kingdom

ISBN: (纸本)9783902661623

Sperry and Minorski are names synonymous with the development of the first steering autopilots and it is well known that their pioneering work and seminal publications led to the introduction of the three-term or proportional-integral- derivative (PID) controller for automatic ship steering. Despite the efforts and enthusiasm of numerous researchers, from all areas of control engineering, to persuade industry to adopt more sophisticated controller designs, PID controllers remain the industry preference and industry standard for automatic control systems. The paper sets the scene with a review of the early developments of automatic control systems for ship steering, which led to Sperry's automatic pilot. This is followed by an overview of developments in roll stabilisation;integrated ship steering and roll stabilisation;unmanned underwater vehicles and unmanned surface vessels. Consideration of over 700 papers presented the twelve conferences and workshops sponsored by the IFAC Technical Committee on Marine Systems in the period 1992 to 2007 is used to track recent trends in marine control systems and as the basis for some thoughts on possible future directions for the marine control community. Copyright © 2007 IFAC.

关键词： Three term control systems

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control system of an automated nanohandling robot cell

Control system of an automated nanohandling robot cell

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2007 IEEE 22nd International Symposium on Intelligent control, ISIC 2007

作者： Stolle, Christian Fatikow, Sergej IEEE Division Microrobotics and Control Engineering Department of Computing Science University of Oldenburg 26111 Germany

ISBN: (纸本)142440441X

Current research work on the development of a nanohandling cell in a scanning electron microscope (SEM) is presented. An experimental setup is shown, in which two microrobots operate in the vacuum chamber of an SEM. In order to enable automatic nanohandling, a modular control system architecture is proposed. Different microrobots can be integrated in a flexible manner using a common control interface. The system easily scales up for more complex robot and sensor setups. Parallel execution of open and closed-loop control tasks can be performed. The functionality of the robot cell is exemplified by handling and mechanical characterization of carbon nanotubes (CNT). ©2007 IEEE.

关键词： Robots

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