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International Conference on Intelligent Transportation

作者： Shiqiang Hu Zhongliang Jing H. Leung Institute of Acrorspace lnformation and Control School of Elcctmnics and Information Technology Shanghai Jiaotong University Shanghai China Faculty of Engineering Department of Electrical &Computer Engineering University of Calgary AB Canada

This paper presents a technique for the online adaptive weighted fusion algorithm for multi-sensor tracking. A suitable method for estimating measurement noise variance is developed, and the formulas of fuzzy logic-based fusion and parallel adaptive tracking are derived. The algorithm consists of three steps: (i) estimation of the sensor's measurement noise variance using the statistical theory; (ii) adjustment of the fused sensor's weight coefficient according to the sensor's noise variance change; (iii) prediction of the target position using the "current" statistical model and Kalman filter method. The algorithm is able to adapt itself to the changes of sensor's noise, and its estimation error is of least mean square. computer simulation results are presented to demonstrate the robust performance of this algorithm.

关键词： Target tracking Noise measurement Statistical analysis Noise robustness Sensor fusion Neural networks Position measurement Predictive models Kalman filters Working environment noise

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A simple neuro automatic voltage regulator for power systems

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IFAC Proceedings Volumes 2003年第7期36卷 211-215页

作者： Mahdi Jalili-Kharaajoo Ahmad Afshar Kaveh Moezzi-Madani Control & Intelligent processing Center of Excellence Department of Electrical and Computer Engineering University of Tehran P.O. Box 14395/515 Tehran Iran Tel: (+98-21) 8020403 Fax: (+98-21) 8778690 Electrical Engineering Department Amirkabir University of Technology Tehran Iran

In this paper, a simple neuro-controller for power systems is presented. The controller performs the function of the terminal voltage control. By representing the proposed neuro-controller in s -domain, its parameters can be obtained analytically to ensure system stability. Results of simulation studies on a nonlinear third order generator model with the proposed neuro-controller using calculated parameters are given. Results of simulation studies demonstrate the effectiveness of this simple neuro-controller.

关键词： Neural control Automatic voltage regulator power system control

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Noisy heart sequences filtering by optimal median based operators 5

Noisy heart sequences filtering by optimal median based oper...

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5th IFAC Symposium on Modelling and control in Biomedical Systems 2003

作者： Lukac, Rasto Smolka, Bogdan Zavarsky, Pavol Plataniotis, Kostas N. Venetsanopoulos, Anastasios N. Slovak Image Processing Center Jarkova 343 Dobsina049 25 Slovakia Department of Automatic Control Silesian University of Technology Akademicka 16 Str. Gliwice44-101 Poland Nagaoka University of Technology 1603-1 Kamitomioka Nagaoka940-2188 Japan Edward S. Rogers Sr. Department of Electrical and Computer Engineering University of Toronto 10 King's College Road Toronto Canada

Bit errors and impulses introduced into cardiographic image sequences prohibit to process and evaluate the heart dynamics correctly. Thus, biomedical imaging such as vascular imaging and quantification of heart dynamics is closely related to digital filtering. We provide three-dimensional impulse detection based adaptive median filters designed to perform the optimal filtering situation, where the robust median filter affects only noisy samples, whereas the desired image features remains unchanged. The proposed method holds excellent preserving characteristics and takes the advantage of the superposition property despite the nonlinearity of the median filtering. Copyright © 2003 IF AC.

关键词： Median filters

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Digital Sliding Mode Position control of an Induction Motor

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IFAC Proceedings Volumes 2003年第11期36卷 169-174页

作者： Mahdi Jalili Kharaajoo Hassan Ebrahimirad M.J. Yazdanpanah Batool Labibi Control & Intelligent processing Center of Excellence Department of Electrical and Computer Engineering University of Tehran P.O. Box 14395/515 Tehran IRAN K.N. Toosi University of Technology Tehran Iran

A sliding mode controller is employed to improve the robust performance of the position control of an induction motor in response to mechanical parameter uncertainty or load torque variations. In this paper a discrete-time sliding mode controller is proposed for an indirect-vector controlled induction motor. Using the proposed controller, the position control of an induction motor is designed and the effects of the parameter uncertainty and the load torque variations on the performance of the controller are investigated. Simulation results reveal the effectiveness of the proposed controller.

关键词： Discrete-time sliding mode control robust control induction motor position control

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Image fusion using non-separable wavelet frame

Image fusion using non-separable wavelet frame

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International Conference on Intelligent Transportation

作者： Hong Wang Zhongliang Jing Jianxun Li H. Leung Institute of Aerospace Information and Control School of Electronics and Information Technology Shanghai Jiaotong University Shanghai China Department of Electrical and computer Engineering University of Calgary AB Canada

In this paper, we propose an image fusion method based on the non-separable wavelet frame (NDWF) for merging a high-resolution panchromatic image and a low-resolution multispectral image. The low-frequency part of the panchromatic image is directly substituted by multispectral image. As a result, the multispectral information of the multispectral image can be preserved effectively in the fused image. Due to multiscale method for enhancing the high-frequency parts of the panchromatic image, spatial information of the fused image can be improved. Experimental results indicate that the proposed method outperforms the IHS transform, discrete wavelet transform and separable wavelet frame in preserving spectral and spatial information.

关键词： Image fusion Discrete wavelet transforms Lattices Remote sensing Spatial resolution Merging Wavelet transforms Multispectral imaging Image sensors Sampling methods

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Challenges in VR-based robot teleoperation

Challenges in VR-based robot teleoperation

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Cheng-Peng Kuan Kuu-Young Young Computer & Communications Research Laboratories Industrial Technology and Research Institute Chutung Taiwan Department of Electrical and Control Engineering National Chiao Tung University Hsinchu Taiwan

ISBN: (纸本)0780377362

Teleoperation techniques unite the human operator as the supervisor and the machine as the manipulator. Because both the human operator and machine are involved in the control loop and they are connected via the network instead of a direct link, the development of a telerobotic system poses challenges different from systems involving machines alone. And these challenges become more severe when the telerobotic system is used for compliance task, in which simultaneous control of both position and force are demanded and inevitable contact with the environment is encountered. In this paper, we discuss the challenges we may face in designing a telerobotic system. We then describe the networked VR-based telerobotic system developed in our laboratory and report the results by using the developed telerobotic system to execute several different kinds of compliance tasks.

关键词： Robots Telerobotics Humans control systems Virtual reality Force control Laboratories Space technology Mars Space missions

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Small target detection of infrared image based on energy features

Small target detection of infrared image based on energy fea...

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International Conference on Neural Networks and Signal Processing

作者： Shijun Zhang Zhongliang Jing Jianxun Li H. Leung Institute of AeroSpace Information and Control School of Electronic and information Technology Shanghai Jiaotong University Shanghai China Department of Electrical and Computer Engineering University of Calgary Calgary AB Canada

ISBN: (纸本)0780377028

A slowly moving small target detection method based on target energy feature of infrared image is proposed in this paper. Mathematical morphology is used to estimate background image. By use of original image minus estimated background image, we get the estimated noise plus target image. The spatial target signature is an optical blur dominated by the optics point spread function. The energy of the area around the location of target often shows intensity maximum or local energy maximum. Based on the knowledge, a target detection algorithm is presented. According to the detection results to real infrared image sequences and Monte Carlo simulation data, it is shown that the method has good detection performance.

关键词： Object detection Infrared imaging Infrared detectors Image sequences Morphology Background noise Optical sensors Optical imaging Optical noise Adaptive optics

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Pixel visibility based multifocus image fusion

Pixel visibility based multifocus image fusion

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International Conference on Neural Networks and Signal Processing

作者： Zhenhua Li Zhongliang Jing Gang Liu Shaoyuan Sun Henry Leung Institute of AeroSpace Information and Control School of Electronics and Information Technology Shanghai Jiaotong University Shanghai China Department of Electrical and Computer Engineering University of Calgary Calgary AB Canada

ISBN: (纸本)0780377028

Due to the limited depth-of-field of optical lenses, it is difficult to get an image with all objects in focus. One way to overcome this problem is to take several images with different focus points and combine them into a single composite which contains all the regions full focused. This paper describes a pixel visibility based multifocus image fusion algorithm. For each pixel in the source multifocus images, the pixel visibility is calculated. The fusion procedure is performed by a selection mode according to the magnitude of pixel visibility. Experiments show that the proposed algorithm works well in multifocus image fusion.

关键词： Pixel Image fusion Focusing Signal resolution Discrete wavelet transforms Optical distortion Machine vision Humans Biomedical optical imaging Optical sensors

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The dynamic modeling and analysis for an omnidirectional mobile robot with three caster wheels

The dynamic modeling and analysis for an omnidirectional mob...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Jae Heon Chung Byung-Ju Yi Whee Kuk Kim Hogil Lee School of Electrical Engineering and Computer Scienc Hanyang University Ansan Gyeonggi South Korea Department of Control and Instrumentation Engineering Korea University South Korea Korea Institute of Industrial and Technology South Korea

ISBN: (纸本)0780377362

Recently quite a few applications of an omnidirectional mobile robot have been reported. However, understanding some fundamental issues still remains as further study. One of the issues is the exact dynamic model. Previous studies very often ignore the wheel dynamics of the mobile robot and suffer from algorithmic singularity. Thus, actuator sizing or control algorithms based on the incomplete plant model does not guarantee the control performance of the system. This paper deals with the singularity-free, exact dynamic modeling and analysis of an omnidirectional mobile robot with three caster wheels. Initially, the exact dynamic model of the mobile robot including the wheel dynamics is introduced. A natural orthogonal complement approach is also introduced. The joint-space and operational-space dynamic models are derived as analytical forms. Through simulation, the discrepancy of the incomplete dynamic model is shown by comparison with the exact dynamic model. Furthermore, the useful aspect of operational dynamics in terms of impact geometry is also discussed.

关键词： Mobile robots Wheels Kinematics Roads computer science Instruments computer industry Industrial control Application software Actuators

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Entropy vector median filter

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1st Iberian Conference on Pattern Recognition and Image Analysis, IbPRIA 2003

作者： Lukac, Rastislav Smolka, Bogdan Plataniotis, Konstantinos N. Venetsanopoulos, Anastasios N. Slovak Image Processing Center Jarkova 343 Dobsina049 25 Slovakia Department of Automatic Control Silesian University of Technology Akademicka 16 Str Gliwice44-101 Poland Edward S. Rogers Sr. Department of Electrical and Computer Engineering University of Toronto 10 King’s College Road Toronto Canada

ISBN: (纸本)3540402179

In this paper, a new adaptive multichannel filter for the detection and removal of impulsive noise, bit errors and outliers in digital color images is provided. The proposed nonlinear filter takes the advantages of the concept of the local entropy contrast and the robust order-statistics theory. The new entropy based vector median is computationally attractive, robust for a wide range of the impulsive noise corruption and significantly improves the signal-detail preservation capability of the standard vector median filter. © Springer-Verlag Berlin Heidelberg 2003.

关键词： Impulse noise

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