We present a method for recognizing the existence of outer frames in binary trademark images and segmenting a trademark that contains an outer frame into the frame and its inner figure, even if both touch. This focuse...
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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 ...
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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 linearizati...
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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.
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. A control scheme which combines of the par...
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ISBN:
(纸本)0780373065
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. A control scheme which combines of the partial linearization control (related to the first link) for the swing up phase introduced in Spong (1995) and robust control for the capture and balance phase is proposed. The key idea is to treat the speed of the second link when the Acrobot rotates across the vertical as an uncertainty, and to design a robust controller to cope with such uncertainty by using the LMI solution to the quadratic stabilization problem. Hence, the basin of attraction of the robust controller is bigger than that of the LQR controller which is designed based on the linearized model of the Acrobot around the unstable equilibrium. The simulation results have verified the effectiveness of the proposed control scheme.
This paper first shows that (1) the class of languages recognized by o(log n) space-bounded two-way Monte Carlo Turing machines is not closed under concatenation, Kleene closure, and length-preserving homomorphism, an...
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This paper first shows that (1) the class of languages recognized by o(log n) space-bounded two-way Monte Carlo Turing machines is not closed under concatenation, Kleene closure, and length-preserving homomorphism, and (2) the class of languages recognized by o(log log n) space-bounded two-way unbounded error probabilistic Turing machines is not closed under each of the above operations. We then show that the class of languages accepted by S(n) space-bounded two-way alternating Turing machines is not closed under each of the above operations for log log n ≤ S(n) ≤ o(log n).
It is indicated that there is a high possibility of disagreement between 3D shape evaluation in virtual space and that in real space. In our previous paper (M. Okubo and T. Watanabe, 2000), a 3D shape evaluation suppo...
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It is indicated that there is a high possibility of disagreement between 3D shape evaluation in virtual space and that in real space. In our previous paper (M. Okubo and T. Watanabe, 2000), a 3D shape evaluation support system in virtual space was proposed. Because the system integrates the visual and gazing line-motion information in virtual space and tactile information in real space, each piece of information can be controlled for analysis of 3D shape evaluation in virtual space by synthesis. On the other hand, there are cases in which long distance designers evaluate the same 3D shapes through the Internet. In this case, the time delay of information must have occurred. From this point of view, the influence of visual information with time delay on the 3D shape evaluation in virtual space is investigated by using the proposed system. A sensory evaluation by paired comparison of 3D shapes and a questionnaire are carried out in virtual space with and without time delay and in real space. The results show that the visual information with time delay affects the shape evaluation in virtual space, especially the evaluation of the details of shapes.
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 trave...
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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.
Let G be a k-tree such that |{v V(G): degG(v) = k}| = 2, n = |V(G)| ≥ 2k + 2, and the maximum degree of G is at most 2k. In this paper, we will show that such a k-tree G is isomorphic to Pn,k. In this way, we give a ...
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Supporting multimedia applications with guaranteed quality of service over a token-passing bus local area network (LAN) is explored through extensive computer simulations. As the provision of real-time properties over...
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Supporting multimedia applications with guaranteed quality of service over a token-passing bus local area network (LAN) is explored through extensive computer simulations. As the provision of real-time properties over a LAN is not so easy to assure, we introduce two levels of priority mechanisms to privileged stream-oriented traffic over burst traffic. One priority level is imposed over the (logical-ring) bus while the other is applied inside the station. In addition, we suggest two algorithms of token utilization; namely, the limited and exhaustive disciplines. The performance of the network is investigated under different operating scenarios. The effect of system parameters on the network performance is discussed and compared. The obtained results show that the token-passing bus LAN with the right compromise is effectively capable of delivering multimedia services without violating their service quality constraints. This will herald a new generation of electronic offices and factory automation.
In wireless communication networks, handoff management is one of the challenging areas in order to maintain the connectivity and its efficiency in handling the mobile users. A handoff switch is defined as a point in t...
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In wireless communication networks, handoff management is one of the challenging areas in order to maintain the connectivity and its efficiency in handling the mobile users. A handoff switch is defined as a point in the network from which a new sub-path to new base station is established. It should have functions for rerouting and buffering. We propose an asynchronous transfer mode (ATM) switch with handoff support functions, which may perform buffering and rerouting efficiently, achieves in-sequence cell transmission and minimizes the cell loss during a handoff. Buffering is needed in the mobility support ATM switch to reduce the cell loss probability (CLP) with tolerable delay maintaining in-sequence cell delivery, which is not available in ATM switch. A mobility support ATM switch with fully shared input buffer functionality is analyzed with required optimum buffer size under bursty (on-off) traffic maintaining the quality of service (QoS) contract.
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