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A DILATION OF TRANSFER MATRICES WITH INFINITE AND FINITE IMAGINARY AXIS ZEROS

IFAC Proceedings Volumes 2002年第1期35卷 407-412页

作者： Xin XIN Department of Communication Engineering Faculty of Computer Science and System Engineering Okayama Prefectural University 111 Kuboki Soja Okayama 719-1197 JAPAN

For a non-square transfer matrix with zeros on the extended imaginary axis including infinity, this paper discusses how to dilate (augment) such transfer matrix to a square one without adding extra zeros on the extended imaginary axis. The state-space construction for the dilation is proposed by using the finite and infinite eigenstructures of the transfer matrix.

关键词： Zero Eigenvalue Singular system Infinite zeros Imaginary axis zeros Singular pencil Generalized eigenvalue problems Dilation Annihilator

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THE SWING UP CONTROL FOR THE PENDUBOT BASED ON ENERGY CONTROL APPROACH

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IFAC Proceedings Volumes 2002年第1期35卷 461-466页

作者： Xin XIN Masahiro KANEDA Toshitaka OKI Department of Communication Engineering Faculty of Computer Science and System Engineering Okayama Prefectural University 111 Kuboki Soja Okayama 719-1197 JAPAN

This paper studies the energy based control of an underactuated two-link robot called the Pendubot. After having investigated the characteristics of the closed-loop system with the energy based control law (Fantoni et al. , 2000) for swinging the Pendubot up, this paper proposes a sufficient condition about parameters in the control law such that the total energy of the Pendubot will converge to the potential energy of its top upright position. This paper gives an answer to the unsolved issue in (Fantoni et al. , 2000) whether the total energy of the Pendubot will converge to the potential energy of its top upright position. Moreover, with the aid of the proposed condition, the parameters in the control law are easy to be chosen.

关键词： Robot control Stability Lyapunov methods Energy control Attractor

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Affecting the accuracy of an active vision head 2nd

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2nd Hellenic Conference on Artificial Intelligence, SETN 2002

作者： Gasteratos, Antonios Sandini, Giulio Laboratory of Electronics Section of Electronics and Information Systems Technology Department of Electrical and Computer Engineering Democritus University of Thrace XanthiGR-671 00 Greece Laboratory for Integrated Advanced Robotics Department of Communication Computer and System Sciences University of Genoa Viale Causa 13 GenoaI-16145 Italy

ISBN: (纸本)3540434720

In any measuring system the categorization of the error generation factors leads to simplification of complex error problems and to higher suppression of the error. In this paper we categorize, quantify and analyze the errors that affect a binocular active vision head. Simulations have been made and experimental results on a high resolution pan-tilt-vergence mechanism are also proposed. As a conclusion it can be said that the system performs optimal when it is initialized so that the two cameras are perfectly aligned and perpendicular to the baseline. Small variations in the vergence angle or small horizontal deviations of the principal point alters the measurement dramatically. On the other hand, variations in pan and tilt and vertical deviations of the principal point, affect the measurement insignificantly. © Springer-Verlag Berlin Heidelberg 2002.

关键词： Errors

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High dynamic range CMOS image sensor with conditional reset

High dynamic range CMOS image sensor with conditional reset

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Custom Integrated Circuits Conference (CICC)

作者： Sung-Hyun Yang Kyoung-Rok Cho Communication Circuit & System Design Laboratory Department of Computer and Communication Engineering Chungbuk National University Cheonghu Chungbuk South Korea

In this paper, we propose a new image pixel structure for high dynamic range operation, which is based on a multiple sampling scheme and conditional reset circuits. To expand the dynamic range of the sensor, the output of the pixel is sampled multiple times in an integration time. In each sampling, the output of the pixel is compared with a reference voltage, and the result of this comparison activates the conditional reset circuit. The times of conditional reset during the integration contribute to the increase of the dynamic range of the sensor. Dynamic range can be increased to N, where N is the sampling times in an integration time. The test chip was fabricated with a 0.65-/spl mu/m CMOS technology (2-P, 2-M).

关键词： Dynamic range CMOS image sensors Voltage Signal to noise ratio Image sensors Circuits Image sampling Pixel CMOS technology Image quality

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Real time data acquisition and remote controlling using World Wide Web

Real time data acquisition and remote controlling using Worl...

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Student Conference on Research and Development (SCOReD)

作者： A. Abdusalam A.R. bin Ramli N.K. Noordin Md.L. Ali Remote Controlling Group. Department of Computer and Communication system University of Putra Malaysia Serdang Selangor Darul Ehsan Malaysia Remote Controlling Group Department of Computer and Communication system Department of Electrical & Electronic Engineering Engineering University Putra Malaysia Serdang Selangor

Personal computers used for data acquisition systems can drastically affect the maximum speeds at which they are able to continuously acquire data. SitePlayer for data acquisition is rapidly becoming a more flexible alternative to a desktop PC based data acquisition system. The data transfer capability of computer use can significantly affect the performance of a DAQ system. The success of Web-based systems has demonstrated the power of connectivity. As the world increasingly moves towards being fully connected, home networking that connects smart household appliances and connects them to the Internet becomes a natural next step. With the wide spread deployment of the Internet and World Wide Web (WWW), both as a public resource and as corporate resources, people have come to recognize the utility of attaching low-cost devices to networks for the purpose of communicating with these devices using standard networking protocols, including TCP/IP (Transfer Control Protocol/Internet Protocol) and HTTP (Hypertext Transfer Protocol) This paper discusses the possibility of using a small system for controlling and monitoring devices from anywhere in the world.

关键词： Data acquisition Web sites Protocols IP networks Control systems Microcomputers Home appliances World Wide Web Joining processes communication standards

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A hand segmentation scheme using clustering technique in homogeneous background

A hand segmentation scheme using clustering technique in hom...

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Student Conference on Research and Development (SCOReD)

作者： Y.P. Lew A.R. Ramli S.Y. Koay R. Ali V. Prakash Multimedia and Intelligent System Research Group Department of Computer and Communication System Engineering Faculty of Engineering Universiti Putra Malaysia Serdang Selangor Darul Ehsan Malaysia

Segmentation serves as the first step in any image analysis and it plays a very vital role as the success of the image analysis in the later stage depends very much on a suitable and robust segmentation scheme. Hand segmentation on the other hand is the first step for hand image analysis such as hand gesture recognition. An image subtraction method is implemented on a gray level image, RGB color image and image in normalized RGB color space under homogeneous background to investigate their appropriateness for segmentation. A skin color model based on the clustering property of skin color is then built to improve the segmentation result obtained from the image subtraction on the normalized RGB image. It is found that the proposed skin color modeling technique is able to improve the segmentation and provide a faster and reliable method for hand segmentation.

关键词： Image segmentation Skin Colored noise Filters Robustness Humans Image analysis Image color analysis Image recognition Image converters

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A high-throughput pipelined architecture for blind adaptive equalization with minimum latency

A high-throughput pipelined architecture for blind adaptive ...

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Asilomar Conference on Signals, systems & computers

作者： M. Mizuno K. Ueda J. Okello H. Ochi Department of Communication Electrical Engineering Nagano Japan Radio Co.Ltd. Faculty of Computer Science and System Engineering Kyushu Institute of Technology Japan

We propose a pipelined architecture for an equalizer based on the multilevel modified constant modulus algorithm (MMCMA). We also provide the correction factor that mathematically converts the adaptive equalizer having the proposed architecture into an equivalent non-pipelined conventional MMCMA based equalizer. The proposed architecture uses modules with 6 filter coefficients, resulting in an overall latency of a single sampling period, along the main transmission line. The basic concepts of the proposed architecture is to implement the finite impulse response (FIR) filter and the algorithm portion of the equalizer, such that the critical path of all circuits has three complex multipliers and three adders.

关键词： Blind equalizers Adaptive equalizers Delay Finite impulse response filter Throughput Pipeline processing computer architecture Sampling methods computer science systems engineering and theory

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Team/goal-keeper coordination in the RoboCup mid-size league

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4th Robot World Cup Soccer Games and Conferences, RoboCup 2000

作者： Adorni, Giovanni Cagnoni, Stefano Mordonini, Monica Piaggio, Maurizio Department of Computer Engineering University of Parma Parco Area delle Scienze 181/a 43100 Parma Italy Department of Communication Computer and System Science University of Genoa Italy

ISBN: (纸本)3540421858

In this paper we describe the coordination strategies that were designed to achieve effective cooperation between a robot goal-keeper and the rest of the ART (Azzurra Robot Team) team that participates in the RoboCup F-2000 (mid-size) competitions. The paper introduces the multi-robot environment on which cooperation in ART is based and, in particular, its communication sub-system. Some case studies and the results of their application in the ART team are then described. © 2001 Springer-Verlag Berlin Heidelberg.

关键词： Human resource management

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A decentralized optimal control scheme for route guidance in urban road networks

A decentralized optimal control scheme for route guidance in...

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International Conference on Intelligent Transportation

作者： R. Minciardi F. Gaetani DIST Department of Communication Computer and System SciencesFaculty of Engineering University of Genova Genoa Italy

A feedback decentralized optimal approach for traffic control in urban networks is developed. The control structure is based on the minimization of an objective function corresponding to the difference among the travel times from each origin node to all the possible destination through the available route on the network. The problem solution is provided on a temporal horizon not specified. The adopted methodology foresees the use of three different algorithmic structures; the first one is able to define the dynamics of the transportation system, and has gotten with a macro model of traffic simulation; the second is used for estimating the travel times on the links, using Gallager's algorithm (1977), and the third defines the resolution of a linear problem of optimization subject to non linear constraints.

关键词： Optimal control Intelligent networks Traffic control communication system traffic control Telecommunication traffic Transportation Stochastic processes Distributed control Roads Management information systems

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A robust control approach to the swing up control problem for the Acrobot

A robust control approach to the swing up control problem fo...

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： Xin Xin M. Kaneda Department of Communication Engineering Faculty of Computer Science and System Engineering Okayama Prefectural University Soja Okayama Japan

Studies the swing up control for the Acrobot, i.e., to move the Acrobot from its stable downward position to its unstable inverted position and balance it about the vertical. The combination of the partial linearization control for the swing up phase proposed by Spong (1995) and the robust control for the capture and balance phase is utilized in this paper. The key idea is first to treat the speed of the second link when it rotates across the vertical as an uncertainty, and then to design a robust controller based on the quadratic stabilization method to cope with such uncertainty. It is shown that that the robust controller is generally superior to the LQR controller in capturing and balancing the Acrobot, and the difficulty of tuning the gains in the swing up phase can be ameliorated.

关键词： Robust control Uncertainty Control systems communication system control Actuators Mechanical systems Robots computer science systems engineering and theory Costs

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