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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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Visibility Enhancement of Single Hazy Images Using Hybrid Dark Channel Prior

Visibility Enhancement of Single Hazy Images Using Hybrid Da...

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IEEE International Conference on systems, Man, and Cybernetics

作者： Yi-Jui Cheng Bo-Hao Chen Shih-Chia Huang Sy-Yen Kuo Andrey Kopylov Oleg Seredin Leonid Mestetskiy Boris Vishnyakov Yury Vizilter Oleg Vygolov Chia-Ruei Lian Chi-Ting Wu Department of Electronic Engineering National Taipei University of Technology Taipei 106 Taiwan Department of Electrical Engineering National Taiwan University Taipei 106 Taiwan Department of Automation and Remote Control Tula State University Tula 300012 Russian Computational Mathematics and Cybernetics Faculty Moscow State University Moscow 119991 Russian State Research Institute of Aviation Systems (GosNIIAS) Moscow 125319 Russian TPV Technology Limited (TPV) New Taipei City 23553 Taiwan

ISBN: (纸本)9781479906505

Outdoor images captured during inclement weather conditions generally exhibit visibility degradation. Localized light sources often result from activation of streetlights and vehicle headlights and are common scenarios in these conditions. The presence of localized light sources in hazy images may cause the generation of oversaturation artifacts when those images are restored by traditional state-of-the-art haze removal techniques. Therefore, we propose a novel haze removal approach based on the proposed hybrid dark channel prior technique in order to remedy the problems associated with localized light sources during image restoration. The overall results show that the proposed haze removal approach can recover haze-free images more effectively than can the other previous state-of-the-art haze removal approach while avoiding over-saturation.

关键词： haze removal dark channel prior localized light

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Automatic sleep level evaluation based on conditional probability for day time nap sleep evaluation

Automatic sleep level evaluation based on conditional probab...

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6th International Conference on Complex Medical engineering, CME 2012

作者： Wang, Bei Wang, Xingyu Nakamura, Masatoshi Department of Automation School of Information Science and Engineering East China University of Science and Technology Shanghai China Research Institute of Systems Control Institute for Advanced Research and Education Saga University Saga Japan

ISBN: (纸本)9781467316163

In this study, the automatic technique for the continuous light sleep level estimation and prediction is developed. The ultimate purpose is to realize the automatic sleep level evaluation for short-term day time nap sleep. The main method is based on the conditional probability obtained according to the characteristics of neuro-physiological signals including EEG, EOG and EMG. The estimated and predicted sleep level are compared with the visual inspection. The obtained results showed that the presented automatic technique is practicable to be an assistant subjective evaluation tool for sleep level analysis. © 2012 IEEE.

关键词： Sleep research

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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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Recursive filtering for a class of nonlinear systems with missing measurements

Recursive filtering for a class of nonlinear systems with mi...

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2012 UKACC International Conference on control, control 2012

作者： Hu, Jun Wang, Zidong Shen, Bo Cai, Chenxiao Lam, James Research Institute of Intelligent Control and Systems Harbin Institute of Technology Harbin 150001 China Department of Information Systems and Computing Brunel University London UB8 3PH United Kingdom Institute for Automatic Control and Complex Systems University of Duisburg-Essen D-47057 Duisburg Germany School of Automation Nanjing University of Science and Technology 210094 Nanjing China Department of Mechanical Engineering University of Hong Kong Hong Kong Hong Kong

ISBN: (纸本)9781467315609

This paper is concerned with the finite-horizon recursive filtering problem for a class of nonlinear time-varying systems with missing measurements. The missing measurements are modeled by a series of mutually independent random variables obeying Bernoulli distributions with possibly different occurrence probabilities. Attention is focused on the design of a recursive filter such that, for the missing measurements, an upper bound for the filtering error covariance is guaranteed and such an upper bound is subsequently minimized by properly designing the filter parameters at each sampling instant. The desired filter parameters are obtained by solving two Riccati-like difference equations that are of a recursive form suitable for online applications. A simulation example is exploited to demonstrate the effectiveness of the proposed filter design scheme. © 2012 IEEE.

关键词： Difference equations

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Applications of sliding observers for FDI in aerospace systems

Applications of sliding observers for FDI in aerospace syste...

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International Workshop on Variable Structure systems, VSS

作者： Christopher Edwards Halim Alwi Prathyush P Menon Control and Instrumentation Research Group Department of Engineering University of Leicester Leicester UK Centre for Systems Dynamics and Control Mathematical Research Institute University of Exeter Exeter UK

This paper presents applications of second order sliding mode observer schemes to three different aerospace problems. Two relate to ADDSAFE aircraft fault detection benchmark problems. Firstly, the detection and isolation problem associated with an actuator jam/ is considered and secondly an actuator oscillatory failure case is tackled. For the actuator jam scenario the actuator deflection becomes decoupled from the demand issued from the flight control computer and remains fixed at some uncommanded point. For the OFC problem, the reconstruction scheme requires an estimate of rod speed provided by a second order sliding mode observer. Ideally low gains in the observer are required because of the noisy environment associated with the physical system. An adaption scheme is therefore required to retain sliding in the presence of severe faults. A problem associated with fault detection in a formation flying scenario, associated with satellites is also discussed. This application to a relative degree two problem would be difficult to solve using linear observer methods.

关键词： Actuators Satellites Observers Benchmark testing Solids Elevators Equations

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Fault tolerant adaptive estimation of nonlinear processes using redundant measurements

Fault tolerant adaptive estimation of nonlinear processes us...

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

作者： Miranda, M. Edelmayer, A. Laboratory of Unit Operations Department of Chemical Engineering University of Los Andes 5101 Mérida Venezuela Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Kende u. 13-17 H-1111 Budapest Hungary

ISBN: (纸本)9781467325318

This paper presents a dual layer approach for robust fault tolerant estimation of nonlinear processes using a combined adaptive extended Kalman filter and fault detection and filter reconfiguration. From the one hand, the filter is made robust in face of environment uncertainty using adaptive filtering. To this end, the filter identifies the measurement covariance by means of recursive estimation, upon which the adaptation relies, to suppress the effect of sporadic variations in the quality of measurements as well as compensates for incipient sensor faults. From the other hand, fault monitoring is continuously applied to the filter's innovation in an attempt to initiate filter reconfiguration when the adaptation mechanism alone is not able to overcome the failure situation. The discussion of the results is embedded in the application framework of state estimation of a batch distillation process. © 2012 IEEE.

关键词： Fault detection

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Automatic sleep level evaluation based on conditional probability for day time nap sleep evaluation

Automatic sleep level evaluation based on conditional probab...

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IEEE/ICME International Conference on Complex Medical engineering, CME

作者： Bei Wang Xingyu Wang Masatoshi Nakamura Department of Automation School of Information Science and Engineering East China University of Science and Technology Shanghai China Research Institute of Systems Control Institute for Advanced Research and Education Saga University Saga Japan

关键词： Electromyography Inspection

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Online Learning Algorithm for Stackelberg Games in Problems with Hierarchy

Online Learning Algorithm for Stackelberg Games in Problems ...

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IEEE Annual Conference on Decision and control

作者： K. G. Vamvoudakis F. L. Lewis M. Johnson W. E. Dixon Center for Control Dynamical-systems and Computation (CCDC) University of California Automation and Robotics Research Institute University of Texas at Arlington NASA Ames Research Center Department of Mechanical and Aerospace Engineering University of Florida

ISBN: (纸本)9781467320658

This paper presents an online adaptive optimal control algorithm based on policy iteration reinforcement learning techniques to solve the continuous-time Stackelberg games with infinite horizon for linear systems. This adaptive optimal control method finds in real-time approximations of the optimal value and the Stackelberg-equilibrium solution, while also guaranteeing closed-loop stability. The optimal-adaptive algorithm is implemented as a separate actor/critic parametric network approximator structure for every player, and involves simultaneous continuous-time adaptation of the actor/critic networks. Novel tuning algorithms are given for the actor/critic networks. The convergence to the closed-loop Stackelberg equilibrium is proven and stability of the system is also guaranteed. A simulation example shows the effectiveness of the new online algorithm.

关键词： Stackelberg games Hierarchical control problems adaptive optimal control Social Hierarchy Game theory e-learning infinite horizon Best value algorithms

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Reinforcement Learning control Based on Multi-Goal Representation Using Hierarchical Heuristic Dynamic Programming

Reinforcement Learning Control Based on Multi-Goal Represent...

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International Joint Conference on Neural Networks

作者： Zhen Ni Haibo He Dongbin Zhao Danil V. Prokhorov Department of Electrical Computer and Biomedical Engineering University of Rhode Island State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Toyota Research Institute NA TTC

ISBN: (纸本)9781467314886

We are interested in developing a multi-goal generator to provide detailed goal representations that help to improve the performance of the adaptive critic design (ACD). In this paper we propose a hierarchical structure of goal generator networks to cascade external reinforcement into more informative internal goal representations in the ACD. This is in contrast with previous designs in which the external reward signal is assigned to the critic network directly. The ACD control system performance is evaluated on the ball-and-beam balancing benchmark under noise-free and various noisy conditions. Simulation results in the form of a comparative study demonstrate effectiveness of our approach.

关键词： ACD gene Automatic Shutoff Devices noise-free critic hierarchical structure Noise learning (artificial intelligence) dynamic programming Generator dynamos Heuristics

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