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Efficient Target Detection from Infrared Image Sequences Using the Sequential Monte Carlo Method

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Efficient Target Detection from Infrared Image Sequences Usi...

IEEE International Conference on Mechatronics and automation

作者： Ganhua Li Xuanping Cai Yunhui Liu Joint Center for Intelligent Sensing and Systems National University of Defense Technology Changsha Hunan China Department of Automation and Computer Aided Engineering Chinese University of Hong Kong Hong Kong China

This paper presents an efficient target detection algorithm from a sequence of infrared images using the sequential Monte Carlo method (SMC). The algorithm employs an evolution process of the particles which correspond to the candidates of the target position and whose evolution is controlled by the weight of the target feature. Through the iterative process on the differential images, a valve of the particle set is proposed to decide if there is a target in the image, and the state of the particle set is used to position the target. The experimental results demonstrated that the algorithm can detect the target with sea-sky background effectively regardless of the existence of serious non-Gaussian noises. The experiments also showed real-time efficiency of the algorithm for target detection

关键词： Object detection Infrared imaging Infrared detectors Image sequences Sliding mode control Gaussian noise Iterative algorithms Background noise Signal processing algorithms Low-frequency noise

On-line Monitoring of Railway Deformation Using Acceleration Measurement

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On-line Monitoring of Railway Deformation Using Acceleration...

World Congress on Intelligent Control and automation (WCICA)

作者： Chengyou Wang Qiugen Xiao Hua Liang Yunhui Liu Xuanping Cai Joint Centre for Intelligent Sensing and Systems National University of Defense Technology Changsha Hunan China Department of Automation and Computer Aided Engineering Chinese University of Hong Kong Hong Kong China

To ensure safety of railway operation, it is extremely important to regularly check railway conditions such as deformation of the rails. This paper presents an on-line rail deformation monitoring system for being implement on moving train so as to timely report any deformation beyond the threshold. The system is based an effective algorithm for detecting the rail deformation using three acceleration sensors mounted on the train. The proposed method can distinguish vibrations due to track deformation from those caused by motion of the train by analysing the lateral accelerations of the train's crossbeam and the lateral acceleration of the bogie. This method is testing on the railway between Shenyang and Dalian. Through experiment of large number of collected data, the performance of the detection is applicable

关键词： Rail transportation Accelerometers Acceleration Frequency automation Railway safety computerized monitoring Inspection Instruments Vehicle detection

A Visual Impedance Force Control of A Robotic Cell Injection System

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A Visual Impedance Force Control of A Robotic Cell Injection...

IEEE International Conference on Robotics and Biomimetics

作者： Haibo Huang Dong Sun James K. Mills Wen J. Li Department of Manufacturing Engineering and Engineering Management City University of Hong Kong Hong Kong China Department of Mechanical and Industrial Engineering University of Toronto Toronto ONT Canada Department of Automation and Computer-Aided Engineering Chinese University of Hong Kong New Territories Hong Kong China

Biological cell injection is a laborious work which requires lengthy training and suffers from a low success rate. Even a tiny excessive manipulation force can destroy the membrane or tissue of the biological cell, and lead to failure of the biomanipulation task. This makes the control of the injection force an important factor in cell injection process. In this paper, a vision-based impedance force control algorithm is proposed based on the modeling of a laboratory test-bed injection system. Visual feedback is used to estimate the injection force, based on which an impedance force control algorithm is developed. Motion planning of the injection pipette is also proposed to complete the whole injection process. Finally, preliminary experimental results are given to show the effectiveness of the proposed approach.

关键词： Impedance Force control Robots Biological cells Force feedback Biomembranes Biological tissues Biological system modeling Laboratories System testing

Single landmark based self-localization of mobile robots

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Single landmark based self-localization of mobile robots

Canadian Conference on computer and Robot Vision, CRV

作者： A. Bais R. Sablatnig J. Gu Robotics Research Group Department of Electrical and Computer Engineering Dalhousie University Halifax Canada Institute of Computer Technology University of Technology Vienna Vienna Austria Pattern Recognition and Image Processing Group Institute of Computer Aided Automation University of Technology Vienna Vienna Austria

In this paper we discuss landmark based absolute localization of tiny autonomous mobile robots in a known environment. Landmark features are naturally occurring as it is not allowed to modify the environment with special navigational aids. These features are sparse in our application domain and are frequently occluded by other robots. This makes simultaneous acquisition of two or more landmarks difficult. Therefore, we propose a system that requires a single landmark feature. The algorithm is based on range measurement of a single landmark from two arbitrary points whose displacement can be measured using dead-reckoning sensors. Range estimation is done with a stereo vision system. Simulation results show that the robot can localize itself if it can estimates range of the same landmark from two different position and if the displacement between the two position is known.

关键词： Mobile robots Robot sensing systems Robot vision systems Cameras Navigation Position measurement Robotics and automation Displacement measurement Educational robots Goniometers

Definition of the HOSVD based canonical form of polytopic dynamic models

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Definition of the HOSVD based canonical form of polytopic dy...

International Conference on Mechatronics (ICM)

作者： Peter Baranyi Peter Varlaki Laszlo Szeidl Yeung Yam Computer and Automation Research Institute Hungarian Academy of Sciences (ATOMKI) Budapest Hungary Department Telecommunication and Media Informatics Budapest University슠of슠Technology슠and슠Economics Budapest Hungary Faculty of Informatics Loránd Eötvös University Budapest Hungary John von Neumann Faculty of Informatics Budapest University슠of슠Technology슠and슠Economics Budapest Hungary Department of Chassis and Lightweight Structures Budapest University슠of슠Technology슠and슠Economics Budapest Hungary Department Automation and Computer Aided Engineering Chinese University of Hong Kong New Territories Hong Kong China

The main objective of the paper is to introduce how the concept of tensor HOSVD can be carried over to the TP (tensor product) dynamic models, namely, how we can define and generate the "HOSVD like" decomposition of linear parameter varying (LPV) dynamic models. We term this decomposition as HOSVD based canonical form of TP model or polytopic model form. The key idea and the basic concept of this decomposition was proposed with the TP model transformation based control design methodology. The novelty of this paper is to present the mathematical background of this concept. The paper shows convergency theorems how the TP model transformation is capable of reconstructing this HOSVD based canonical form numerically. The proofs of the theorems are lengthy, therefore they are omitted. The paper also presents numerical examples to show the applicability, efficiency and uniformity of the numerical reconstruction

关键词： Control design Tensile stress Informatics Nonlinear dynamical systems Vectors Linear matrix inequalities Telecommunication computing automation Lightweight structures computer aided engineering

Control of Single Wheel Robots

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Springer Tracts in Advanced Robotics 2005年 20卷 179-186页

作者： Xu, Yangsheng Ou, Yongsheng Chinese University of Hong Kong Department of Automation and Computer-Aided Engineering Shatin Hong Kong

Further topics on learning-based control

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Springer Tracts in Advanced Robotics 2005年 20卷 119-149页

作者： Xu, Yangsheng Ou, Yongsheng Chinese University of Hong Kong Centre for Micro Nano Systems Department of Automation and Computer-Aided Engineering Shatin New Territories Hong Kong

Modeling human control strategy (HCS) refers to a model of a human expert's control action in response to system real-time feedback. That is, we aim to develop a relationship between human control action (control ...

ISBN: (纸本)9783540281849

关键词：

Kinematics and Dynamics

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Springer Tracts in Advanced Robotics 2005年 20卷 13-32页

作者： Xu, Yangsheng Ou, Yongsheng Chinese University of Hong Kong Centre for Micro Nano Systems Department of Automation and Computer-Aided Engineering Shatin New Territories Hong Kong

ISBN: (纸本)9783540281849

Previously, Gyrover was controlled only manually, using two joysticks to control the drive and tilt motors through a radio link. A complete dynamic model is necessary to develop automatic control of the system. In the following sections, we will develop the nonholonomic kinematics constraints, as well as a dynamic model using the constrained generalized Lagrangian formulation.

关键词： Dynamic models

Learning-based control

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Springer Tracts in Advanced Robotics 2005年 20卷 73-117页

作者： Xu, Yangsheng Ou, Yongsheng Chinese University of Hong Kong Centre for Micro Nano Systems Department of Automation and Computer-Aided Engineering Shatin New Territories Hong Kong

ISBN: (纸本)9783540281849

Due to the complexity of the system, it is difficult for us to work out a "complete" analytical model of it. Therefore, in this chapter, we propose using a machine learning algorithm, Cascade Neural Network (CNN) with nodedecoupled extended Kalman Filtering (NDEKF), to model the robot's behaviors from human control strategy (HAS).

关键词： Learning algorithms