The camera pose estimation problem using correspondences involves outliers in most cases. In recent years, Random Sample Consensus (RANSAC) is often used as a well-known outlier removal method, however, RANSAC does no...
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With the development of cities, underground tunnels are more and more widely used, and the reinforced concrete in their walls can be used as the natural grounding body of the tunnels. However, underground tunnels have...
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This paper presents a computationally efficient MPC approach to achieve a nonlinear output regulation using lifting bilinearization. The method uses an internal model to anticipate the future effects of the disturbanc...
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ISBN:
(数字)9798350370942
ISBN:
(纸本)9798350370959
This paper presents a computationally efficient MPC approach to achieve a nonlinear output regulation using lifting bilinearization. The method uses an internal model to anticipate the future effects of the disturbance. The output regulation MPC formulation is formulated into an augmented reference scheme to reduce computational complexity. By using lifting bilinearization, the MPC formulation transforms into a linear optimal control problem that can be solved efficiently by well-established convex optimization techniques. The effectiveness of the proposed method is demonstrated in a simulation of a quadrotor system operating in three-dimensional space. The method shows adequate performance in improving the input delay time after observing the system state by approximately 90% and overall computational time by approximately 60%.
Noise can induce coherent oscillations in excitable systems without periodic orbits. Here, we establish a method to derive a hybrid system approximating the noise-induced coherent oscillations in excitable systems and...
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Noise can induce coherent oscillations in excitable systems without periodic orbits. Here, we establish a method to derive a hybrid system approximating the noise-induced coherent oscillations in excitable systems and further perform phase reduction of the hybrid system to derive an effective, dimensionality-reduced phase equation. We apply the reduced phase model to a periodically forced excitable system and two-coupled excitable systems, both undergoing noise-induced oscillations. The reduced phase model can quantitatively predict the entrainment of a single system to the periodic force and the mutual synchronization of two coupled systems, including the phase slipping behavior due to noise, as verified by Monte Carlo simulations. The derived phase model gives a simple and efficient description of noise-induced oscillations and can be applied to the analysis of more general cases.
Resonant switched capacitor converters have the advantages of small size, light weight and high efficiency, but have poor voltage regulation ability. To overcome this problem, a quasi-parallel resonant switched capaci...
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This paper presents a hybrid DC-DC converter composed of switch-mode DC-DC converters and switched-capacitor circuits. The system has continuous voltage regulation, low voltage stress across switches, low inductor cur...
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Stereo matching under foggy scenes remains a challenging task since the scattering effect degrades the visibility and results in less distinctive features for dense correspondence matching. While some previous learnin...
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ISBN:
(数字)9798350384574
ISBN:
(纸本)9798350384581
Stereo matching under foggy scenes remains a challenging task since the scattering effect degrades the visibility and results in less distinctive features for dense correspondence matching. While some previous learning-based methods integrated a physical scattering function for simultaneous stereo-matching and dehazing, simply removing fog might not aid depth estimation because the fog itself can provide crucial depth cues. In this work, we introduce a framework based on contrastive feature distillation (CFD). This strategy combines feature distillation from merged clean-fog features with contrastive learning, ensuring balanced dependence on fog depth hints and clean matching features. This framework helps to enhance model generalization across both clean and foggy environments. Comprehensive experiments on synthetic and real-world datasets affirm the superior strength and adapt-ability of our method.
This paper considers the autonomous racing of three cars, including a team of two cars and an opponent car. The competition is modeled as a two-leader one-follower Stackelberg game which can be called the sequential g...
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This experimental study uses the NREL S809 airfoil to evaluate how solidity affects the performance of a hybrid Savonius-Darrieus wind turbine. To assess its effects on power coefficient, starting torque, and other pe...
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In this paper, we propose a classification method for road damage images considering mobile devices. In the general deep learning approach, it is difficult to find unknown classes. Therefore, we address the problem of...
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