This paper proposes a factorization method that reconstructs camera motion and scene shape based on the matching of multiple images under the condition that the camera captures a perspective view. Starting from the af...
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This paper proposes a factorization method that reconstructs camera motion and scene shape based on the matching of multiple images under the condition that the camera captures a perspective view. Starting from the affine projection camera model, the projection depth is iteratively estimated until the measurement matrix has rank 4. Then, the obtained measurement matrix is factorized to restore the three-dimensional information of the scene in the projection space. This approach eliminates noise sensitive processes, such as the calculation of the fundamental matrix, that are required in the factorization for the conventional perspective projection image, and a stable reconstruction is realized. Furthermore, the metric constraint in the conventional affine model is extended, and the metric constraint in the perspective projection condition is derived. It is shown that the reconstruction in Euclidean space is realized if the internal parameters of the camera are given.
A self – tuning PID controller algorithm has been derived in this paper. The process is identified by the regression (ARX) continuous – time model using the recursive least squares method (RLSM) with applied directi...
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A self – tuning PID controller algorithm has been derived in this paper. The process is identified by the regression (ARX) continuous – time model using the recursive least squares method (RLSM) with applied directional forgetting. The recursive parameter estimates of the continuous – time model (differential equation) are used to synthesis the PID controller. controller synthesis is designed on the basis of a dynamics inversion method. This method allows the tuning of standard analog and digital controllers for chosen types of controlled processes without or with time delay. The algorithm is suitable for the automatic setting of analog and digital PID controllers for deterministic processes or the adaptive control of stochastic and nonlinear processes. The analog modification PID controller has been verified by computer simulation.
Tuning rules for PI and PID controllers for stable non oscillating plants are presented in this paper. These rules are based on an optimization procedure, where both low frequency performance, mid frequency stability ...
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Tuning rules for PI and PID controllers for stable non oscillating plants are presented in this paper. These rules are based on an optimization procedure, where both low frequency performance, mid frequency stability margins and high frequency control activity are taken into account. The required plant knowledge is typically the phase crossover frequency of the plant and the corresponding gain at this frequency, like in Ziegler Nichols frequency design method. Near optimal tuning rules are presented based on this knowledge and the plant low frequency gain, both for PI and PID controllers. Related results are also given for plants with very high or no phase crossover frequency at all.
The C4ISR Architecture Framework document issued by the department of Defense specifies three views of an information architecture and defines a set of products that describe each view. These architecture views are to...
The problem of robust H ∞ filter design for uncertain continuous-time linear systems with multiple time-delayed states is addressed in this paper. The uncertainties are assumed to belong to convex bounded domains (po...
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The problem of robust H ∞ filter design for uncertain continuous-time linear systems with multiple time-delayed states is addressed in this paper. The uncertainties are assumed to belong to convex bounded domains (polytope type uncertainty) and the time delays are supposed to be constant. Delay-independent as well as delay-dependent stability conditions assuring robust stability and a prescribed H ∞ disturbance attenuation for the filtering error system are established, in both cases, in terms of linear matrix inequalities, which can be efficiently solved by standard optimization procedures with global convergence assured. Two illustrative examples are analyzed.
This paper proposes a genetic-based algorithm for surface reconstruction of three-dimension (3-D) objects from a group of contours representing its section plane lines. The algorithm can optimize the triangulation of ...
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This paper proposes a genetic-based algorithm for surface reconstruction of three-dimension (3-D) objects from a group of contours representing its section plane lines. The algorithm can optimize the triangulation of the surface of 3-D objects with a multi-objective optimization function to meet the needs of a wide range of applications. Further, a new crossover operator for triangulation and a new 3-D quadrilateral mutation operator are also introduced.
In this paper the problem of determination of bounded output-feedback control laws which stabilize multivariable discrete-time systems described by ARMA models is investigated. The proposed approach is based upon the ...
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The present paper deals with the production of Saccharomyces cerevisiae, described by a sixth order nonlinear state space model. The control objective is to ensure the process stability and desirable specifications in...
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This paper describes the robust control design of a 1.5 MW free turbine with complex load. A non-linear model of the engine with load has been developed within Simulink from details previously presented. State space H...
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A new interpretation has been given to model reduction by the method of balanced realizations, which shows that it can be regarded as a type of aggregation method. This enables a user to retain the conceptual advantag...
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