A new spherical-type 3-degree-of-freedom parallel mechanism consisting of a two degree-of-freedom parallel module and a serial module is proposed. Two alternative designs for the serial sub-chain are suggested and com...
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The Human body exploits ´redundant degree of freedoḿ to execute various motions in a suitable fashion. This work deals with development of effective redundancy resolution algorithms for the motion control of huma...
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This paper investigates the problem of output-feedback adaptive stabilization control design for a class of nonlinear systems with unknown direction control coefficients. By introducing novel input scaling transformat...
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This paper briefly reviews other people’s works on negative selection algorithm and their shortcomings. With a view to the real problem to be solved, authors bring forward two assumptions, based on which a new immune...
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This paper briefly reviews other people’s works on negative selection algorithm and their shortcomings. With a view to the real problem to be solved, authors bring forward two assumptions, based on which a new immune algorithm, multi-level negative selection algorithm, is developed. In essence, compared with Forrest’s negative selection algorithm, it enhances detector generation efficiency. This algorithm integrates clonal selection process into negative selection process for the first time. After careful analyses, this algorithm was applied to network intrusion detection and achieved good results.
In this paper, a novel constructive method is presented to provide a new Hamiltonian formulation with dissipation for both fully actuated and underactuated robotic systems. Firstly, a high-order partial derivative ope...
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A hybrid coding system that uses a combination of set partition in hierarchical trees (SPIHT) and vector quantisation (VQ) for image compression is presented. Here, the wavelet coefficients of the input image are rear...
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A hybrid coding system that uses a combination of set partition in hierarchical trees (SPIHT) and vector quantisation (VQ) for image compression is presented. Here, the wavelet coefficients of the input image are rearranged to form the wavelet trees that are composed of the corresponding wavelet coefficients from all the subbands of the same orientation. A simple tree classifier has been proposed to group wavelet trees into two classes based on the amplitude distribution. Each class of wavelet trees is encoded using an appropriate procedure, specifically either SPIHT or VQ. Experimental results show that advantages obtained by combining the superior coding performance of VQ and efficient cross-subband prediction of SPIHT are appreciable for the compression task, especially for natural images with large portions of textures. For example, the proposed hybrid coding outperforms SPIHT by 0.38 dB in PSNR at 0.5 bpp for the Bridge image, and by 0.74 dB at 0.5 bpp for the Mandrill image.
Many interesting design problems encountered in signal processing and control turn out to depend on a set of decision variables that can only take a finite number of values, i.e., they are quantized. For example, in p...
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This paper presents a conversational interface that uses the speech recognition and synthesis and animation abilities of two Microsoft software agents in order to assure a more natural and efficient interface with an ...
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This paper presents a conversational interface that uses the speech recognition and synthesis and animation abilities of two Microsoft software agents in order to assure a more natural and efficient interface with an autonomous robot. The interface is used in the robotics educational process. The basic commands to be given by voice (back, right, etc.) and the control of the agents are implemented in Visual Basic. More complex control programs can be implemented and tested in Matlab and after that executed with a simple voice command. This program is used as a part of an integrated educational strategy in autonomous robotics and was evaluated by a group of students. First experimental results related to the use of this conversational interface compared to traditional robot simulation environments and control of real robots are presented in this paper with related discussions.
In this paper, we aim at developing a System-on-Chip, SoC, which can capture image as well as produce vehicle lane map at the same time. We adopt Peak-Finding based lane detection algorithm that can achieve high recog...
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