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检索条件"机构=Department of Automation Measurement and Control Engineering"

共 219 条记录，以下是211-220 订阅

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Fusion of global and local feature based iris recognition

Fusion of global and local feature based iris recognition

引用

IEEE International Conference on Mechatronics and automation

作者： Pengfei Zhang Shaoshi Zhang Department of Automation Measurement and Control Harbin Institute of Technology Harbin Heilongjiang China Department of Astronautic Engineering and Mechanics Harbin Institute of Technology Harbin Heilongjiang China

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Relative entropy multilevel thresholding method based on genetic optimization

Relative entropy multilevel thresholding method based on gen...

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2003 International Conference on Neural Networks and Signal Processing, ICNNSP'03

作者： Yang, Zhao-Hua Pu, Zhao-Bang Qi, Zhen-Qiang Department of Automation Measurement and Control Harbin Institute of Technology Harbin 150001 China Department of Control Science and Engineering Harbin Institute of Technology Harbin 150001 China

ISBN: (纸本)0780377028

Traditional optimal thresholding methods are very computationally expensive when extended to multilevel thresholding for their exhaustively search mode. So their applications are limited. In this paper, a relative entropy multilevel thresholding method based on genetic algorithm (RE-GA) is developed. The proposed method makes use of GA's properties such as high efficiency, rapid convergence and global optimization. The relative entropy is treated as the fitness function. Applying the proposed method to process image, the computation speed is accelerated and the quality is improved. Simulation results verify the performance of the proposed method by comparison with the traditional optimal thresholding methods. © 2003 IEEE.

关键词： Global optimization

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Relative entropy multilevel thresholding method based on genetic optimization

Relative entropy multilevel thresholding method based on gen...

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International Conference on Neural Networks and Signal Processing

作者： Zhao-hua Yang Zhao-bang Pu Zhen-qiang Qi Department of Automation Measurement and Control Harbin Institute of Technology Harbin China Department of Control Science and Engineering Harbin Institute of Technology Harbin China

ISBN: (纸本)0780377028

关键词： Entropy Optimization methods Image segmentation Histograms Optimal control Automatic control Genetic algorithms Acceleration automation Computational modeling

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Novel edge preserving multiscale filtering method based on mathematical morphology

Novel edge preserving multiscale filtering method based on m...

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International Conference on Machine Learning and Cybernetics (ICMLC)

作者： Zhao-Hua Yang Zhao-Bang Pu Zhen-Qiang Qi Department of Automation Measurement and Control Harbin Institute of Technology Harbin China Department of Control Science and Engineering Harbin Institute of Technology Harbin China

ISBN: (纸本)0780378652

During the course of conventional multiscale morphological filtering, when the noise is filtered, the signals which are smaller than the structuring elements (SE) may be also removed. In this paper, a novel edge preserving multiscale filtering (EPMF) method based on mathematical morphology is proposed. The EPMF method adds the multiscale top-hat transformation and bottom-hat transformation to the conventional multiscale morphological opening and closing filtering. The two added transformations are used to extract and smooth the features which are smaller than the current scale. It is also found that the smaller features have greater possibilities to contain noise particles. Accordingly, the coefficients of top-hat transformation and bottom-hat transformation are modified. Simulation results on the standard gray-level images show that the proposed EPMF method can effectively remove noise and completely preserve the edge of images. It demonstrates better performance than the conventional filtering methods.

关键词： Morphology Filtering theory Automatic control Image recognition Image analysis Inspection Image processing Morphological operations automation Noise measurement

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An interval arithmetic approach for discrete time non-smooth uncertain systems with application to an anti-locking system

An interval arithmetic approach for discrete time non-smooth...

引用

American control Conference (ACC)

作者： J. Heeks E.P. Hofer B. Tibken K. Thorwart Department of Measurement Control and Microtechnology University of Ulm (EBS) Ulm Germany Chair of Automation Control Engineering University of Wuppertal Wuppertal Germany R.O.S.E. Informatik Heidenheim Germany

In this paper, a global optimization technique using interval analysis applied to the simulation of an anti-locking control system with possible sensor tolerances is presented. The anti-locking system and the vehicle are described as an uncertain discrete time system with nonsmooth nonlinearities. Sensor tolerances can be modeled in a natural way by means of interval arithmetics which helps to achieve reliable results in the simulation. However, a simulation approach using merely natural interval extensions leads to overestimations rendering the result useless. Therefore, we employ a global optimization algorithm which allows the inclusion of the actual dynamic system behavior with a predefined and guaranteed overestimation limit. All algorithms are implemented in MATLAB.

关键词： Arithmetic Uncertain systems Wheels Mathematical model Force measurement Road vehicles Velocity measurement Analytical models Discrete time systems Vehicle dynamics

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Combining trajectory control and position control for autonomous mobile robot navigation 6

Combining trajectory control and position control for autono...

引用

6th European control Conference, ECC 2001

作者： Tarín, C. Brugger, H. Hofer, E.P. Tibken, B. Department of Measurement Control and Microtechnology Faculty of Electrical Engineering University of Ulm UlmD-89069 Germany Department of Automation and Control Faculty of Electrical Engineering and Information Technology University of Wuppertal WuppertalD-42119 Germany

ISBN: (纸本)9783952417362

In the present paper, we described the system architecture of the autonomous mobile robot B21 from RWI focussing on the double control loop implementing the kinematic control together with the underlying drive control. As a highly accurate drive control is taken for granted only the kinematic model is considered for trajectory and position control. In order to manage successfully demanding tasks in dynamic environments, a motion strategy combining trajectory control and position control is suggested. Two different examples where this combination is required are shown. When a self-localization error occurs, the starting point of the reference trajectory is far away from the actual position of the mobile robot. In such a case, to avoid re-planning a motion control strategy is implemented such that the robot finds again the starting point of the reference trajectory without crossing large parts of the unknown environment. When an unexpected obstacle appears on the planned path a collision avoidance manoeuvre is initiated. This manoeuvre also combines trajectory control and position control. Experimental results for both cases show the performance of the presented motion strategies. The used trajectory and position controllers are described. © 2001 EUCA.

关键词： Mobile robots

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Odometry error correction by sensor fusion for autonomous mobile robot navigation

Odometry error correction by sensor fusion for autonomous mo...

引用

IEEE Instrumentation and measurement Technology Conference

作者： C. Tarin Sauer H. Brugger E.P. Hofer B. Tibken Department of Measurement Control and Microtechnology Faculty of Electrical Engineering University of Ulm (EBS) Ulm Germany Department of Automation and Control F acult y of Electrical Engineering and Information Technology University of Wuppertal Wuppertal Germany

ISBN: (纸本)0780366468

A low cost navigation system is developed which fuses inertial sensor information provided by gyroscopes and odometry information. Both Kalman filters and a rule set based fusion strategy are used to correct the odometry errors in orientation for mobile robots. The fusion system even improves orientation estimation using a gyroscope with an extremely high drift rate. This navigation system is implemented on the autonomous mobile robot B21. The performance of this fusion method is tested on different surfaces and orientation errors do not increase as the robot travels along. Experimental results demonstrate that even in harsh environments with obstacles the performance of the designed navigation system reduces odometry tracking errors. The effects of nonsystematic odometry errors caused by unpredictable large bumps or objects encountered on the floor are reduced.

关键词： Error correction Sensor fusion Mobile robots Navigation control systems Sensor systems Electric variables measurement Gyroscopes Position measurement Automatic control

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Robust sampled-data control for vehicle steering systems

Robust sampled-data control for vehicle steering systems

引用

IEEE Conference on control Technology and Applications (CCTA)

作者： Li-Sheng Hu Yong-Yan Cao Hui-He Shao Department of Automation Shanghai Jiaotong University Shanghai China Department of Measurement and Control Faculty of Electrical Engineering Duisburg University Duisburg Germany

In industrial control, computer control is widely used, which makes the closed-loop system be a sampled-data one containing continuous time and discrete time signals. In contrast to the traditional approximation methods, sampled-data synthesis is a direct digital controller design procedure without approximation. Sampled-data control which is capable of stabilizing general nonlinear systems with the intersample behavior taken into account are of great current interest. In the paper robust sampled-data control for a class of nonlinear parametric uncertain systems with constraints on the output imposed by time-domain performances is proposed. Based on the result of robust asymptotic stability of sampled-data systems with constraints on the state, robust sampled-data control for a class of uncertain nonlinear systems with constraints on the output is developed. The problem is formulated for vehicle steering control with constraint on the side slip angle of body. The result is described by some matrix inequalities which could be solved by a proposed iterative algorithm based on the linear matrix inequality technique. Finally, a numerical example is presented to show the result.

关键词： Robust control control systems Vehicles Steering systems Nonlinear control systems Nonlinear systems Robust stability Linear matrix inequalities Industrial control Approximation methods

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Some novel characterizations of generic rank of structured matrix

Some novel characterizations of generic rank of structured m...

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American control Conference (ACC)

作者： Kang Li Yugeng Xi Yu Zhang Laboratory for Measurement and Control Delft University of Technnology Delft Netherlands Department of Automation Shanghai Jiaotong University Shanghai China Department of Electrical Engineering National University of Singapore Singapore

Provides some novel characterizations of the generic rank of a structured matrix that is widely used in the study of linear structured systems. Both algebraic and graph-theoretic methods are used to determine the gene... 详细信息

关键词： Equations control systems Graph theory Electric variables measurement Automatic control automation controllability Observability Linear programming Graphics

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