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A New Calibration Method for an Inertial and Visual Sensing System

International Journal of automation and computing 2012年第3期9卷 299-305页

作者： Xu, De Wang, Hua-Wei Li, You-Fu Tan, Min State Key Laboratory of Intelligent Control and Management of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China East China Research Institute of Electronic Engineering Hefei 230088 China Department of Manufacturing Engineering and Engineering Management City University of Hong Kong Hong Kong China

The relative pose between inertial and visual sensors equipped in autonomous robots is calibrated in two steps. In the first step, the sensing system is moved along a line, the orientations in the relative pose are computed from at least five corresponding points in the two images captured before and after the movement. In the second step, the translation parameters in the relative pose are obtained with at least two corresponding points in the two images captured before and after one step motion. Experiments are conducted to verify the effectiveness of the proposed method.

关键词： Inertial sensor visual sensor calibration motion estimation robot vision.

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Multicriteria ramp metering control considering environmental and traffic aspects

Multicriteria ramp metering control considering environmenta...

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15th IFAC Workshop on control Applications of Optimization, CAO 2012

作者： Csikós, Alfréd Varga, István Department of Control and Transport Automation Budapest University of Technology and Economics Hungary Bertalan L. u. 2. H-1111 Budapest Hungary Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Kende u. 13-17 H-1111 Budapest Hungary

ISBN: (纸本)9783902823144

In this paper a multicriteria ramp metering control is designed considering three criteria: traffic performance and the local- and global effects of traffic emission. For realtime emission modeling a macroscopic modeling framework is proposed using an average-speed emission model. Based on the proposed model function cost functions regarding the global and local effects of traffic emission are stated. Traffic control is realized via ramp metering and the control input is optimized by using the NMPC technique. The closed-loop simulation of the designed control is carried out in VISSIM microscopic simulator. © 2012 IFAC.

关键词： Cost functions

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6th International Conference on Complex Medical Engineering, CME 2012

作者： Li, Yifeng Zhang, Tao Wang, Bei Nakamura, Masatoshi Department of Automation School of Information Science and Technology Tsinghua University Beijing 100084 China Department of Automation School of Information Science and Technology Air Force Institute of Aeromedicine Beijing 100142 China Department of Automation East China University of Science and Technology Shanghai 200237 China Research Institute of Systems Control Saga University Saga 840-0047 Japan

ISBN: (纸本)9781467316163

In this paper, the research on monitoring and early warning for the loss of consciousness under +Gz accelerations is first introduced. The necessity of research on electroencephalogram (EEG) signal under the condition of +Gz accelerations is then presented. In order to investigate the features of EEG variation in +Gz acceleration environment, experiments are carried out by using high performance human centrifuge. EEG and related physiological signals under different +Gz accelerations are recorded and analyzed by means of periodogram parameters analysis method. The results show that the features of EEG waveform and some frequency bands have obvious change under +Gz accelerations. They also show that the changes of EEG, heart rate and brain blood pressure have different various relevances. The valuable feature changes appeared in advance corresponding to ear pulse level probably have significance on warning syncope induced by +Gz accelerations and can provide important basis for further study. © 2012 IEEE.

关键词： Blood pressure

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Principles of the active collision mitigation system for vehicles involved in light impact 13

Principles of the active collision mitigation system for veh...

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13th Mini Conference on Vehicle System Dynamics, Identification and Anomalies, VSDIA 2012

作者： Mihály, András Gáspár, Péter Szabó, Zoltán Sename, Oliver Dugard, Luc Department of Control and Transport Automation Faculty of Transportation Engineering and Vehicle Engineering Budapest University of Technology and Economics Bertalan L. U. 2. Budapest Hungary Computer and Automation Research Institute Systems and Control Laboratory Kende U. 13-17 Budapest Hungary Control Systems Department GIPSA-Lab 11 Rue des Mathématiques ENSE3 BP 46 St martin d'Hrescedex GrenobleF-38402 France

ISBN: (纸本)9789633131022

The paper presents a collision mitigation method in which the aim is to stabilize the motion of the vehicle after a light impact has occurred. A yaw rate servo control based on the bicycle model is applied for control purposes. The collision is assumed to have been detected by a passive safety system, e.g., airbag sensors. The control system is activated by the monitoring signal. After the collision has occurred the motion of the vehicle and the operation of the control system are illustrated through CarSim simulation examples. Two control solutions are analyzed: in the first case active steering is used while in the second case steering is combined with differential braking. With the knowledge of certain vehicle parameters and the impact force and direction, post impact vehicle states (yaw rate, velocities, roll rate) can be analyzed. A sensitivity analysis is carried out to determine the validity range of the vehicle model in the presence of uncertainties and different kinds of impact forces. Several software packages are used for the design and analysis of the controlled system. The control design is performed by using the Matlab/Simulink software and the verification of the designed controller is performed by using the CarSim software.

关键词： Automobile steering equipment

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Automatic detection of photic evoked spikes contaminated with slow burst by use of morphological filter and similarity coefficient

Automatic detection of photic evoked spikes contaminated wit...

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6th International Conference on Complex Medical Engineering, CME 2012

作者： Nishida, Shigeto Sugi, Takenao Ikeda, Akio Nagamine, Takashi Shibasaki, Hiroshi Nakamura, Masatoshi Department of Computer and Communication Engineering Fukuoka Institute of Technology Fukuoka Japan Department of Advanced Systems Control Engineering Saga University Saga Japan Department of Neurology Kyoto University School of Medicine Kyoto Japan Department of System Neuroscience Sapporo Medical University Sapporo Japan Takeda General Hospital Kyoto Japan Research Institute of Systems Control Saga Japan

ISBN: (纸本)9781467316163

A method for detecting spikes and slow burst in photic evoked electroencephalogram (EEG) was proposed. The spikes were detected by combining methods of the morphological filter and the similarity coefficient in the time domain. The slow burst was detected by using pole of AR model (auto-regressive model) in the frequency domain. The proposed method was applied for the photic evoked EEG data containing spikes and slow burst, and brought satisfactory coincidence with the results interpreted by a qualified electroencephalographer. © 2012 IEEE.

关键词： Electroencephalography

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Modeling and identification in frequency domain with representations on the Blaschke group

Modeling and identification in frequency domain with represe...

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IASTED International Conference on control and Applications, CA 2012

作者： Soumelidis, Alexandras Bokor, József Schipp, Ferenc Systems and Control Laboratory Computer and Automation Research Institute Kende 13-17 Budapest Hungary Department or Numerical Analysis Eötvös Loránd University Pazmany Peter 1/C Budapest Hungary

ISBN: (纸本)9780889869226

This paper gives an analysis on the opportunities of using some principles of the hyperbolic geometry in the field of signals and systems theory. Based upon the hyperbolic transform realized by the Blaschke function a hyperbolic metric is defined on the unit circle that corresponds to the notions of the Poincare disc model of the hyperbolic geometry. Based on the hyperbolic metric and the Laguerre representation of analytic functions in the unit disc a method is outlined, which gives the opportunity to derive the poles of the functions. Deriving the poles in combination with function representations in rational orthogonal bases solves the nonparametric identification problem in the frequency domain.

关键词： Poles

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control design based on the integration of steering and suspension systems

Control design based on the integration of steering and susp...

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IEEE Conference on control Technology and Applications (CCTA)

作者： Balázs Németh Péter Gáspár Department of Control and Transport Automation Budapest University of Technology and Economics Hungary Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Hungary

The paper proposes an integration of the steering system and a variable-geometry suspension system as part of a driver assistance system. The predefined trajectory required by the driver is followed with a steering command. During maneuvers the control system generates an auxiliary front steering angle and the camber angle of the front wheels according to driver demands in order to improve road stability. Simultaneously, the variable-geometry suspension system is able to modify the camber angle of the wheels in order to improve the half-track change. The design of an integrated control system is based on the robust H ∞ method, which meets the performance specifications and guarantees robustness against model uncertainties. The efficiency of the actuator integration is guaranteed by a reachable set. The operation of the control system is illustrated through a simulation example.

关键词： Vehicles Suspensions Wheels Actuators Vehicle dynamics Approximation methods

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Development of real-time evaluation system for qualitative improvement of awake EEG records

Development of real-time evaluation system for qualitative i...

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6th International Conference on Complex Medical Engineering, CME 2012

作者： Sugi, Takenao Ikeda, Akio Nagamine, Takashi Shibasaki, Hiroshi Nakamura, Masatoshi Department of Advanced Technology Fusion Saga University Honjyo-machi 1 Saga 840-8502 Japan Department of Neurology Kyoto University Kyoto Japan Department of Systems Neuroscience Sapporo Medical University Sapporo Japan Takeda General Hospital Kyoto Japan Research Institute of Systems Control Saga Japan

ISBN: (纸本)9781467316163

Recording of awake electroencephalogram (EEG) with sufficient quality is crucial for accurate and significant EEG analysis. However, since the EEG recording is time consuming task, to maintain the quality of records enough is not with the ease. Real-time evaluation system was developed to improve the quality of awake EEG records. Possibility for vigilance level decline of subjects and artifacts contamination were taken account of items on evaluating the quality of EEG records. EEG organization was adopted for estimating the deterioration of quality of recorded EEG due to drowsiness. Developed system was applied to the recorded EEG of three normal healthy adults and five patients with neurological disorders. Detected information of possibility for vigilance level decline and artifacts contamination was displayed in real-time during the recording. Results were investigated and were within a satisfactory level. Real-time evaluation system can be used as an effective computer-assisted tool for improving the quality of awake EEG records. © 2012 IEEE.

关键词： Electroencephalography

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Assessment of two pressure-velocity coupling strategies for local meshless numerical method

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9th International Conference on Advances in Fluid Mechanics - Advances in Fluid Mechanics IX, AFM 2012

作者： Kosec, G. Vertnik, R. Šarler, B. Jožef Stefan Institute Laboratory for Parallel and Distributed Computing Slovenia University of Nova Gorica Laboratory for Multiphase Processes Slovenia Štore steel d.o.o. Research Slovenia Centre of Excellence for Biosensors Automation and Process Control Laboratory for Advanced Materials Systems Slovenia

ISBN: (纸本)9781845646004

The performance of two pressure-velocity coupling strategies, associated with the primitive variable solution of incompressible Newtonian fluid with the meshless Local Radial Basis Function Collocation Method (LRBFCM), is compared with respect to computational efficiency, stability, accuracy and spatial convergence. The LRBFCM is structured with multiquadrics on five noded support domains. The explicit time stepping is used. The Backward- Facing Step problem (BFS) has been selected as a benchmark problem, previously tackled by several numerical methods. The semi-local fractional step method (FSM) and completely local pressure-velocity couplings (LPVC) are compared. The numerical results are validated against previously published data. The results are represented and compared in terms of a convergence plot of the reattachment position. We show that both approaches provide reasonable results;however, LVPC is less computationally complex and less stable in comparison to FSM. © 2012 WIT Press.

关键词： Computational efficiency

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Identifying poles from time-domain data using discrete Laguerre system

Identifying poles from time-domain data using discrete Lague...

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2012 20th Mediterranean Conference on control and automation, MED 2012

作者： Soumelidis, Alexandros Bokor, Jozsef Schipp, Ferenc Systems and Control Laboratory Computer and Automation Research Institute of the Hungarian Academy of Sciences Kende str. 13-17 Budapest H-1111 Hungary Department of Numerical Analysis Faculty of Informatics Eotvos Lorand University Budapest Hungary

ISBN: (纸本)9781467325318

In a recent paper the authors proposed a new frequency-domain approach to identify poles in discrete-time linear systems. The discrete rational transfer function is represented in a rational Laguerre-basis, where the basis elements are expressed by powers of the Blaschke-function. This function can be interpreted as a congruence transform on the Poincaré unit disc model of the hyperbolic geometry. The identification of a pole is given as a hyperbolic transform of the limit of a quotient-sequence formed from the Laguerre-Fourier coefficients. This paper extends this approach for using discrete time-domain data directly. © 2012 IEEE.

关键词： Poles

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