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A novel method for vision tracking with line of sight control, using a fuzzy logic controller and Euler angle orientation in the feedforward loop

A novel method for vision tracking with line of sight contro...

引用

International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： Jaehong Park Wook Bahn Chang-hun Lee Tae-il Kim Kwang-soo Kim Dong-il Cho Department of Electrical Engineering and Computer Science ASRI/ISRC Seoul National University Seoul South Korea Department of Control and Instrumentation Engineering Hanbat National University Daejeon South Korea

This paper presents a novel method for vision tracking with line of sight control. The line of sight control for the vision tracking is an important function for various robot applications. However, when a robot is moving fast, it is difficult to keep the camera's sight towards a specific target, using only a vision feedback controller, due to the limitation in vision processing capabilities. In the proposed method, a feedforward controller based on robot position information is implemented to improve the tracking performance. The translational motion of the robot is estimated using a fuzzy logic controller and a slip detector. In addition, an Euler angle expression is used to calculate the robot orientation in 3-D space. Then, a vision-based feedback controller is added to compensate for the feedforward targeting error. To evaluate the performances, the developed vision tracking system is implemented on a mobile robot, and various experiments are performed. Experimental results show excellent tracking and recognition performances.

关键词： Target tracking Mobile robots Robot sensing systems Fuzzy logic Machine vision

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RESTful web service composition: Extracting a process model from Linear Logic theorem proving

RESTful web service composition: Extracting a process model ...

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2011 7th International Conference on Next Generation Web Services Practices, NWeSP 2011

作者： Zhao, Xia Liu, Enjie Clapworthy, Gordon J. Ye, Na Lu, Yueming Department of Computer Science and Technology University of Bedfordshire Luton United Kingdom School of Information and Control Engineering Xi'An University of Architecture and Technology Xi'an China School of Electronic and Information Engineering Xi'An Jiao Tong University Xi'an China Key Laboratory of Trustworthy Distributed Computing and Service Beijing University of Posts and Telecommunications Ministry of Education Beijing China

ISBN: (纸本)9781457711268

This paper introduces a two-stage Linear Logic based program synthesis approach to automatic RESTful web service composition. The Linear Logic theorem proof is applied at both resource and service invocation method levels, which greatly improves the searching efficiency and guarantees the correctness and completeness of the service composition. Furthermore, the process calculus is used as formalism for the composition process, which enables the approach to be executable at the business management level. The process calculus is attached to the Linear Logic inference rules in the style of type theory, so the process model is extracted directly from the complete proof. An example is given to show the extraction of a process model from a Linear Logic proof search. © 2011 IEEE.

关键词： computer circuits

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Consensus Acceleration of Multi-agent Systems via Model Prediction

Consensus Acceleration of Multi-agent Systems via Model Pred...

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2011 American control Conference (ACC)

作者： Zhiyong Chen Hai-Tao Zhang School of Electrical Engineering and Computer Science University of Newcastle Callaghan NSW Australia Department of Control Science and Engineering State Key Laboratory of Digital Manufacturing Equipment and Technology Huazhong University of Science and Technology Wuhan China

A fastest consensus problem of topology fixed networks has been formulated as an optimal linear iteration problem and efficiently solved by Xiao and Boyd [1]. Considering a kind of predictive mechanism, we show that the consensus evolution can be further accelerated while physically maintaining the network topology. The underlaying mechanism is that an effective prediction is able to convert the network status along temporal dimension to that in spatial dimension and hence induce a network with a virtually denser topology. With this topology, an even faster consensus is expected to occur. The result is motivated by the predictive mechanism widely existing in biological swarms, flocks, and synchronization networks.

关键词： Eigenvalues and eigenfunctions Network topology Acceleration Trajectory Convergence Topology Protocols

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A Modified Diamond Search algorithm

A Modified Diamond Search algorithm

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IEEE International Symposium on Information (IT) in Medicine and Education, ITME

作者： Yun Cheng Xine You Minlian Xiao Minlei Xiao Department of Communication and Control Engineering Hunan Institute of Humanities Science and Technology Loudi China Department of Electronic and Information Engineering Loudi Vocational and Technical College Loudi China Department of Computer Science and Technology Hunan Institute of Humanities Science and Technology Loudi China

DS (Diamond Search) is one of the most famous motion estimation algorithms. By analyzing the characteristics of DS, it is found that DS can be improved more efficiently. A Modified Diamond Search (MDS) algorithm is proposed in this paper. Firstly, MDS employs Small Diamond Search Pattern(SDSP) to judge if the MBD(Minimum Block Distortion) point is the initial search center. If the MBD point does not locate at the search center, Simplified Large Diamond Search Pattern(SLDSP) will be used in the next search step. If the MBD point is not within the circular area with a radius of one pixel, SLDSP will be employed continually to locate the best matching block with large motion vector until the search center become the MBD point. Finally SDSP will be adopted to refine the motion vector. Experimental results show that MDS can speed up the motion estimation process greatly under the same encoding efficiency compared to DS, especially for those video sequences with simple and slow motion vectors.

关键词： Vectors Motion estimation Diamond-like carbon Algorithm design and analysis Signal processing algorithms Encoding Prediction algorithms

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Robust Integral of Neural Network and Sign of Tracking Error control of Uncertain Nonlinear Affine Systems Using State and Output Feedback

Robust Integral of Neural Network and Sign of Tracking Error...

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IEEE Conference on Decision and control

作者： Qinmin Yang S. Jagannathan Youxian Sun State Key Laboratory of Industrial Control Technology Department of Control Science and Engineering Zhejiang University Hangzhou Zhejiang 310027 China Department of Electrical and Computer Engineering Missouri University of Science and Technology (formerly University of Missouri-Roll) 1870 Miner Circle Rolla MO 65409

ISBN: (纸本)9781612848006

This paper presents a novel state and output feedback control law for the tracking control of a class of multi-input-multi-output (MIMO) continuous time nonlinear systems with unknown dynamics and disturbance input. First the state feedback based control law is designed which consists of the robust integral of a neural network (NN) output plus the sign of the tracking error signal multiplied with an adaptive gain. The two-layer NN learns the system dynamics in an online manner while the NN residual reconstruction errors and the bounded system disturbances are overcome by the error sign signal. Both of the NN output and error sign signal are included into the integral to ensure the control input is a smooth function. Since certain states are not available in practice, subsequently, a high-gain observer is utilized to estimate the unmeasurable system states and output feedback based controller is designed. A semi-global asymptotic tracking performance is guaranteed in the case of state feedback while boundedness in the case of output feedback and the NN weights and all other signals are shown to be bounded by using the Lyapunov method. Finally, theoretical results are verified in the simulation environment.

关键词： Output feedback Neural network State feedback follow error control input Simulated Environment Output Feedback control System dynamics ERROR control Smooth function signals ERROR SIGNAL tracking control

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Force controller design based on PQ method for dual-stage actuators in polishing machines

Force controller design based on PQ method for dual-stage ac...

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Annual Conference of Industrial Electronics Society

作者： Kenta Seki Yusaku Shinohara Makoto Iwasaki Hiroshi Chinda Masaki Takahashi Department of Computer Science & Engineering Nagoya Institute of Technology Nagoya Japan Control Equipment Division Fujikura Composites Company Limited Saitama Japan

This paper presents a controller design approach to realize a precise force control of load devices in polishing machines. In the load device, a pneumatic actuator and a voice coil motor are combined as dual-stage actuators to expand the servo bandwidth. However, the interference between the dual actuators may deteriorate the servo performance, especially at around the cross-over frequency. In this paper, therefore, PQ method is adopted to achieve the high precision force control by the expansion of servo bandwidth, where the compensators are especially designed to suppress the interference. The proposed approach has been verified by experiments using an actual load device of the polishing machine.

关键词： Servomotors Force control Pneumatic actuators Force Polishing machines Interference

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High precision force control of pneumatic cylinders considering disturbance suppression with specific frequency

High precision force control of pneumatic cylinders consider...

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International Conference on Mechatronics (ICM)

作者： Kenta Seki Yusaku Shinohara Makoto Iwasaki Hiroshi Chinda Masaki Takahashi Department of Computer Science & Engineering Nagoya Institute of Technology Aichi Japan Control Equipment Division Fujikura Composites Company Limited Saitama Japan

This paper presents a practical control methodology of force control systems using a pneumatic cylinder for polishing machines. The typical machine is composed of the pneumatic cylinder as an actuator, a motor to rotate a whetstone, and a force sensor to detect the force value, where the high precision force control is required to achieve the high precision polish for objects. Vibration generated by the motor with periodic rotation, however, deteriorates the trajectory performance in target press force, resulting in the lower control accuracy of the system. In order to provide the precise force performance, therefore, a simple feedback compensator is designed to improve the disturbance suppression characteristic at specific frequency, where a resonant filter is adopted by paying attention to vector locus of the open-loop characteristic The proposed control approach has been verified by experiments using an actual pneumatic cylinder system.

关键词： Force Pistons

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On the PD~(alpha)-Type Iterative Learning control for the Fractional-Order Nonlinear Systems

On the PD~(alpha)-Type Iterative Learning Control for the Fr...

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2011 American control Conference (ACC)

作者： Yan Li YangQuan Chen Hyo-Sung Ahn School of Control Science and Engineering Shandong University Jinan Shandong China Electrical and Computer Engineering Department Utah State University Logan UT USA Department of Mechatronics Gwangju Institute of Science and Technology Gwangju South Korea

In this paper, we discuss in time domain the convergence of the iterative process for fractional-order nonlinear systems. The PD~(alpha)-type iterative learning updating laws are considered. Most of the classical fractional-order cases for linear or nonlinear systems fall into the scheme of this paper. A number of numerical simulations are illustrated to validate the concepts.

关键词： Nonlinear systems Convergence Fractional calculus Equations Simulation Electronic mail

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A Study on the Human Identification Technique for Privacy Protection in Intelligent Video Surveillance System

A Study on the Human Identification Technique for Privacy Pr...

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IEEE Asia-Pacific Conference on Services Computing (APSCC)

作者： Min-Gu Kim Hae-Min Moon Chulho Won Yongwha Chung Sung Bum Pan Department of Control and Instrumentation Engineering Chosun University Gwangju South Korea Department of communication Engineering Chosun University Gwangju South Korea Department of Electrical and Computer Engineering California State University Fresno CA USA Department of Computer and Information Science Korea University Chungnam South Korea

Recently as the incidences of terrorism and crime increase, the utilization of video surveillance system such as CCTV is increased. The increase of video surveillance system is useful in maintaining the safety of people's living and public order, however, the issue has been brought up about privacy invasion. For this, researches on the masking method to protect the privacy are being carried out. The masking method can protect privacy by eliminating the visual information but reduces the surveillance function. Therefore, the techniques that satisfy the human identification-based privacy protection and surveillance function at the same time have been researched. In this paper, the human identification method that is applicable to the existing privacy protection method and video surveillance system is explained.

关键词： Asia Conferences

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Design of Mobile Applications for Remote Monitoring Equipment

Design of Mobile Applications for Remote Monitoring Equipmen...

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International Conference on Software and computer Applications（ICSCA 2011）

作者： Ondrej Krejcar Department of Measurement and Control Faculty of Electrical Engineering and Computer Science VSB Technical University of Ostrava Department of Information Technologies Faculty of Informatics and Management University of Hradec Kralove

This project consists in developing applications for mobile phones that allows users to query using the touch screen to check the status of remote devices. Current status of the remote visualization device is arranged on the display, thereby increasing user comfort when operating the remote device (currently designed for GSM communicator GD-06 Allegro), instead of the traditional communication via SMS. Applications for mobile devices is designed for. NET Compact Framework and is designed for Windows Mobile. This application is created in Visual Studio 2008 from Microsoft.

关键词： remote device, visualization, mobile phone, GSM communicator

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