This paper presents the design of the cognitive automobile in Munich. The focus of the capabilities shown here is the navigation on highways and rural roads. The emphasis on higher speed requires early detection of fa...
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This paper presents the design of the cognitive automobile in Munich. The focus of the capabilities shown here is the navigation on highways and rural roads. The emphasis on higher speed requires early detection of far field objects, so a multi focal active vision with gaze control is essential. For increased robustness lidar range sensors are combined with vision using an object fusion approach. An elaborate safety concept and a verification stage ensure a safe behavior of the vehicle in all situations. A communication system enables the vehicle to perform cooperative perception and action together with similar intelligent vehicles.
Complex System Integrated Health Management (CSIHM) technology is developed from the Fault Detecting, Isolation and Reconfiguration (FDIR) technology;which is the integrated application of the advanced reasoning techn...
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In this paper, the state estimation problem with constrained error variance for linear discrete-time systems is investigated. To this end, in a first stage, the vector variance equation describing the evolution of the...
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Aiming at the importance of the analysis for public opinion on Internet, the authors propose a high-performance extraction method for public opinion. In this method, the space model for classification is adopted to de...
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Aiming at the importance of the analysis for public opinion on Internet, the authors propose a high-performance extraction method for public opinion. In this method, the space model for classification is adopted to describe the relationship between words and categories. The combined feature selection method is used to remove noisy words from the original feature space effectively. Then the category weight of words is calculated by the improved formula combining the frequency of words and distribution of words. Finally, the class weights of the not-categorized documents based on the category weight of words are obtained for realizing opinion extraction. Experiment results show that the method has comparatively high classification and good stability.
Wireless networked embedded systems are becoming increasingly important in a wide area of technical fields. In this tutorial paper we present recent results on the design of these systems and their use in control appl...
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In networked control systems, because of limits on communication rates, control waveforms are frequently piece-wise constant with limits on rates at which they can switch levels. It is, therefore, natural to expect ev...
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The paper deals with the electromagnetic torque computations in models of rotating electrical machines utilizing the Lagrange sliding surface technique for rotor movement representation. Various interpolating function...
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The paper deals with the electromagnetic torque computations in models of rotating electrical machines utilizing the Lagrange sliding surface technique for rotor movement representation. Various interpolating functions are tested to construct a coupling algorithm for moving and stationary regions. Two different formulas for torque calculation are used. The error in torque computations is assessed using two models of induction machines. The reference models are those of the same machines but applying the moving band technique. The best interpolation algorithm is found from the analysis and its accuracy is assessed by comparison with other algorithms. The analysis is carried out under assumption of uniformly distributed nodes at the sliding interface and is addressed to two-dimensional finite element models based on first order approximation.
Robotic surgery has experienced a rapid progress in a diversity of interventions, especially in minimally invasive surgery (MIS). In this type of interventions the patient body is accessed by inserting especial instru...
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Robotic surgery has experienced a rapid progress in a diversity of interventions, especially in minimally invasive surgery (MIS). In this type of interventions the patient body is accessed by inserting especial instruments through small incisions. As these instruments are manipulated by robotic assistants, passive wrists are incorporated for free compliance with the port of entry. With this wrist configuration it is only possible to locate accurately an instrument tip if its port of entry or fulcrum point is known. A vision oriented method is proposed in this paper to estimate the position of this external point of incision. It is based on motion analysis in a sequence of images where geometric properties of projected features and 3D transformations of the instrument are related. In this work we show that it is possible to accurately estimate the position and orientation of this 3D point, as well as the orientation of the instrument with respect to the laparoscopic camera applying determined movements through the robotic assistant.
A diversity of action-perception applications relies on 2D information to perform 3D tasks. Minimally invasive surgery (MIS) is one of these applications. It requires a high degree of sensory-motor skills to overcome ...
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A diversity of action-perception applications relies on 2D information to perform 3D tasks. Minimally invasive surgery (MIS) is one of these applications. It requires a high degree of sensory-motor skills to overcome the disengagement between action and perception caused by the physical separation of the surgeon with the operative site. The integration of body movements with visual information serves to assist the surgeon providing a sense of position. Our purpose in this paper is to present the exterior orientation as a tool in assisted interventions locating the instruments with respect to the surgeon. An enhanced perception is obtained by augmenting the 2D information imposing position and orientation data through a human-machine interface. Applying motion analysis in a sequence of images and having knowledge of the 3D transformations implemented to the instrument, we show it is possible to estimate its orientation with only two different rotations and also its position in the case its length information is supplied.
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