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作者： Kaiser, Benedikt Heidemann, Gunther Institute for Process Control and Robotics Building 40 University of Karlsruhe 28 Kaiserstr. 12 D-76128 Karlsruhe Germany Intelligent Systems Group Stuttgart University Universitätsstr. 38 D-70569 Stuttgart Germany

ISBN: (纸本)9781424421756

Interest point detection is an established method to select relevent image regions. Such techniques use features like corners or edges, which are known to indicate regions likely to hold patterns of interest. Selection of such regions increases processing efficiency. For the recognition of motion, however, such context-free methods are still very rare. Though there are numerous methods to find space-time volumes of motion in image sequences, most aim at finding just motion as a such, not volumes which are more promising for analysis than others. Therefore Laptev and Lindeberg (2005) generalized the Harris detector to the spatio-temporal domain. But the problem remains to evaluate what kind of motion is captured by a detector. For example, the detector of Laptev and Lindeberg should capture "corners" - like the original 2D-version of Harris and Stephens (1988) - but what does that mean for motion? Therefore we present an approach to visualize events which were selected by a spatio-temporal interest point detector. Since the analysis of single examples is not fruitful, we use clustering to analyze large quantities of space-time volumes selected by a detector. The resulting cluster centers are prototypical events, representing the types of events the detector responds to. Thus a qualitative yet statistically exhaustive analysis of detector properties is possible. © 2008 IEEE.

关键词： Edge detection

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Qualitative analysis of spatio-temporal event detectors

Qualitative analysis of spatio-temporal event detectors

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International Conference on Pattern Recognition

作者： Benedikt Kaiser Gunther Heidemann Institute for Process Control and Robotics University of Karlsruhe Karlsruhe Germany Intelligent Systems Group University of Stuttgart Stuttgart Germany

Interest point detection is an established method to select relevent image regions. Such techniques use features like corners or edges, which are known to indicate regions likely to hold patterns of interest. Selection of such regions increases processing efficiency. For the recognition of motion, however, such context-free methods are still very rare. Though there are numerous methods to find space-time volumes of motion in image sequences, most aim at finding just motion as a such, not volumes which are more promising for analysis than others. Therefore Laptev and Lindeberg (2005) generalized the Harris detector to the spatio-temporal domain. But the problem remains to evaluate what kind of motion is captured by a detector. For example, the detector of Laptev and Lindeberg should capture ¿corners¿ - like the original 2D-version of Harris and Stephens (1988) - but what does that mean for motion? Therefore we present an approach to visualize events which were selected by a spatio-temporal interest point detector. Since the analysis of single examples is not fruitful, we use clustering to analyze large quantities of space-time volumes selected by a detector. The resulting cluster centers are prototypical events, representing the types of events the detector responds to. Thus a qualitative yet statistically exhaustive analysis of detector properties is possible.

关键词： Event detection Detectors Motion analysis Motion detection Image edge detection Image sequences Image analysis Image motion analysis Image sequence analysis Visualization

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Annual business and news:: Beginning the 31st year of the Journal of Guidance, control, and Dynamics

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JOURNAL OF GUIDANCE control AND DYNAMICS 2008年第1期31卷 1-1页

作者： Schmidt, George T. Aeronautics and Astronautics Massachusetts Institute of Technology (MIT) AIAA Institute of Electrical and Electronics Engineers Russian Federation Academy of Navigation and Motion Control Department of Mechanical and Aerospace Engineering and Engineering Mechanics University of Missouri-Rolla(UMR) Lockheed Electronics Company Center for Space Research University of Texas Austin United States Wright Laboratory Eglin Air Force Base UMR AIAA Guidance Navigation and Control Technical Committee American Automatic Control Council Lockheed Martin Aeronautics Company Palmdale CA United States C4ISR and Unmanned Air Vehicle (UAV) Programs for Air Vehicle Sciences and Systems Accreditation Board Engineering and Technology Inc./Aeronautical National Technical Committee on Guidance Navigation and Control Department of Mechanical and Aerospace Engineering University at Buffalo State University of New York (SUNY) AIAA Technical Committee on GN and C Air Vehicles Directorate Air Force Research Laboratory (AFRL) Wright-Patterson Air Force Base Space Access and Hypersonic Vehicle Guidance and Control Group Control Science Center of Excellence AFRL AIAA Technical Committee on Guidance Navigation and Control Department of Mechanical and Aeronautical Engineering University of California (UC) Davis United States Boeing Company Modernized Flight Control System for the Apache Longbow AIAA Institute of Electrical and Electronics Engineers AHS Jet Propulsion Laboratory California Institute of Technology Boeing Company Flight Sciences and Advanced Design Group Guidance Navigation and Control (GN and C) Systems Engineer Distributed Space Systems NASA Goddard Space Flight Center (GSFC) AIAA GN and C Technical Committee Department of Aerospace Engineering and Engineering Mechanics University of Texas Austin United States Institute of Navigation American Astronautical Society AIAA Guidance Navigation (GN and C) and Control Technical Committee Department of Aerospace Engineering Iowa State University Iowa

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Robust Adaptive Fault-Tolerant control of the F-14 Aircraft under Sensor Failures

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IFAC Proceedings Volumes 2008年第2期41卷 10172-10177页

作者： Sajjad Fekri Dawei Gu Ian Postlethwaite Michael Athans Control & Instrumentation Research Group Department of Engineering University of Leicester U.K. (Tel: +44-116-2522567 Fax: +44-116-2522619 Institute for Systems and Robotics (ISR) Instituto Superior Técnico (IST) Lisbon Portugal also Professor of EE&CS (emeritus) MIT Cambridge MA U.S.A.

This paper presents a novel fault detection and isolation (FDI) architecture applied to the lateral-directional axis of an F-14 aircraft during powered approach to landing under sensor failures. The fault-tolerant architecture employed is based on the so-called “Robust Multiple-Model Adaptive control” (RMMAC) and hence is referred to as “RMMAC/FDI”. The results demonstrate successful stability and performance of the RMMAC/FDI architecture.

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Graph Signature for Self-Reconfiguration Planning

Graph Signature for Self-Reconfiguration Planning

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2008 IEEE/RSJ International Conference on Intelligent Robots and systems, Pages 526-1042

作者： Masoud Asadpour Alexander Sproewitz Aude Billard Pierre Dillenbourg Auke Jan Ijspeert ECE Dept. University of Tehran Control and Intelligent Processing Center of Excellence Iran Bio-Inspired Robotics Group (BIRG) Switzerland Learning Algorithms and Systems Laboratory (LASA) Switzerland Centre de Recherche et d Appui pour la Formation Switzerland Centre de Recherche et d'Appui pour la Formation (CRAFT) Ecole Polytechnique Fédérale de Lausanne (EPFL) Switzerland Bio-Inspired Robotics Group (BIRG)

ISBN: (纸本)9781424420575

This project incorporates modular robots as building blocks for furniture that moves and self-reconfigures. The reconfiguration is done using dynamic connection/disconnection of modules and rotations of the degrees of freedom. This paper introduces a new approach to self-reconfiguration planning for modular robots based on the graph signature and the graph edit-distance. The method has been tested in simulation on two type of modules: YaMoR and M-TRAN. The simulation results shows interesting features of the approach, namely rapidly finding a near-optimal solution.

关键词： Modular self-reconfigurable robots Adaptive furniture Graph isomorphism Graph signature Graph edit distance Modular robots graph editing Line graph Reconfiguration Furnishings signatures Building blocks Degree of freedom crop rotation

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IEEE Transactions on Haptics: Editorial

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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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Further evaluation of the RMMAC method with time-varying parameters

Further evaluation of the RMMAC method with time-varying par...

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2007 Mediterranean Conference on control and Automation, MED

作者： Rosa, P. Athans, M. Fekri, S. Silvestre, C. Institute for Systems and Robotics Instituto Superior Técnico Lisbon Portugal Department of EECS M.I.T. United States Control and Instrumentation Research Group University of Leicester Leicester United Kingdom

ISBN: (纸本)142441282X

We demonstrate, using Monte-Carlo simulations, the superior performance of the "Robust Multiple-Model Adaptive control (RMMAC)" method for different time-varying uncertain parameter waveforms, performance bandwidths and constant disturbance intensities using the test example designed and studied in Refs. [1] and [2]. We further show that the RMMAC RMS performance is just about 10-16% worse than that obtained from a system that has perfect model identification (which is unrealizable), while remaining vastly superior to the performance associated with the best robust non-adaptive design. ©2007 IEEE.

关键词： Uncertainty analysis

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Evaluation of the RMMAC/XI method with time-varying parameters and disturbance statistics

Evaluation of the RMMAC/XI method with time-varying paramete...

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2007 Mediterranean Conference on control and Automation, MED

ISBN: (纸本)142441282X

We demonstrate, using Monte-Carlo simulations, the robust performance of the adaptive control methodology denoted by RMMAC/XI introduced and discussed in Refs. [1-3]. The RMMAC/XI architecture can handle simultaneous time-variations in the plant uncertain parameters as well as the disturbance intensity statistics. We compare the RMMAC/XI performance vs that of the best possible robust nonadaptive design using the same physical example described in Refs. [1-4]. Whenever possible, we also compare the RMMAC/XI performance with that of the (unrealizable) "Perfect Model Identification (***)" introduced in [4]. © 2007 IEEE.

关键词： Intelligent systems

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Closed loop glucose control in critical care patients: Previous study for clinical essays

Closed loop glucose control in critical care patients: Previ...

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4th International Summer School and Symposium of Medical Devices and Biosensors, ISSS-MDBS 2007

作者： Alexandra Oliveros, V. Vehi, Josep Gutierrez, Alfredo García-Gabín, Winston IEEE Universidad del Norte Department of Electrical Engineering Barranquilla Colombia Intelligent Systems and Control Engineering group Department of Electronics Informatics and Automatics Universitat de Girona Girona Spain Department of Electrical Engineering Researcher of the Robotics and Intelligent Systems Universidad del Norte Barranquilla Colombia

ISBN: (纸本)142441346X

The feasibility of the design of a closed loop system to control glucose levels in critical care patients is presented in this paper. Considering the basic elements for its construction: The plasma glucose detection using a subcutaneous sensor and a Kalman filter, the model of glucose metabolism, and having special consideration in the method to calculate the optimal insulin infusion designing classical control schemes (PID and PI) and a GPC (predictive controller). © 2007 IEEE.

关键词： Glucose

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Autonomous large parafoil guidance, navigation, and control system design status

Autonomous large parafoil guidance, navigation, and control ...

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19th AIAA Aerodynamic Decelerator systems Technology Conference and Seminar

作者： Carter, David W. George, Sean Hattis, Philip D. Mcconley, Marc W. Rasmussen, Scott A. Singh, Leena Tavan, Steve Draper Laboratory Cambridge MA 02459 United States Natick Soldier Research Development and Engineering Center Natick MA 01760 United States Decision Systems Group Mail Stop 77 555 Technology Square United States Vehicle and Robotic Systems Group Mail Stop 23 555 Technology Square United States AIAA United States Mission Design and Analysis Group Mail Stop 70 555 Technology Square United States Tactics Guidance and Control Group Mail Stop 77 555 Technolog Square Cognitive Robotics Group Mail Stop 77 555 Technology Square Guidance and Control Group Mail Stop 77 555 Technology Square NSRDEC Warfighter Protection and Aerial Delivery Directorate AMSRD-NSC-WP-AJ Kansas Street United States

ISBN: (纸本)1563478943

Demonstration of autonomous Guidance, Navigation, and control (GN&C) that can take parafoil airdrop systems from 25,000 feet to accurate landings is a key goal of the Joint Precision Airdrop System. A first instantiation test-flew a 10,000 pound-class parafoil system and has since been extended to accommodate payloads up to 30,000 pounds and as small as a few hundred pounds. The initial avionics applied by the GN&C software used a two-antenna Global Positioning System (GPS) receiver to obtain position, velocity, and heading data. Upgraded avionics now use a single-antenna GPS receiver providing position and velocity combined with inertial sensors providing three-axis acceleration and angular rate data. The guidance algorithm is partitioned into homing, energy management, and an optimized table-lookup terminal flight phase. The control algorithm is a proportional, integral, derivative design with features to deal with system constraints and with feed forward to improve response time. The GN&C software integration and testing is accomplished using a 6 degree-of-freedom simulation with both software-only and hardware-in-the-loop forms. GN&C with the original avionics enabled the 10,000 poundclass parafoil to achieve an expected delivery accuracy of about 150 meters. The GN&C using the new avionics is generalized for on-going tests with payloads ranging from 300 to 30,000 pounds.

关键词： Airfoils

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