A tutorial introduction to the subject of multisensor integration and fusion is presented. The role of multisensor integration and fusion in the operation of intelligent systems is defined in terms of the unique type ...
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A tutorial introduction to the subject of multisensor integration and fusion is presented. The role of multisensor integration and fusion in the operation of intelligent systems is defined in terms of the unique type of information multiple sensors can provide. Multisensor integration is discussed in terms of basic integration functions and multisensor fusion in terms of the different levels at which fusion can take place. Numerical examples are given to illustrate a variety of different fusion methods. Speculations concerning possible research future directions and a guide to survey and review papers in the area of multisensor integration and fusion are presented.< >
Presents a 3D object recognition system with emphasis on an optimum placement strategy for a mobile 3D range sensor. The theoretical aspects leading to the development of the 3D sensor placement paradigm are presented...
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Presents a 3D object recognition system with emphasis on an optimum placement strategy for a mobile 3D range sensor. The theoretical aspects leading to the development of the 3D sensor placement paradigm are presented and described. The authors use a triangulation type laser of range finder in which a CCD based imaging device is utilized to view a plane of laser light bounced from a sweeping mirror. The sensor characteristics are described and modeled. A set of criteria for use in constraining the possible sensor site location for future scans is presented. These constraint conditions are essential to drive the actual sensor placement algorithm for 3D object recognition.< >
In this paper the Linear Constrained Regulation Problem for discrete-time systems is studied. The first part of the paper deals with the problem of existence of linear state-feedback control laws that transfer asympto...
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In this paper the Linear Constrained Regulation Problem for discrete-time systems is studied. The first part of the paper deals with the problem of existence of linear state-feedback control laws that transfer asymptotically to the origin all initial states belonging to a polyhedral subset of state space while linear state and control constraints are respected. Then an eigenstructure assignment technique is developed for derivation of a solution to this problem. The results presented in the paper are based on the properties of systems possessing polyedral positively invariant sets.
In this paper, we report on recent advances in the design of fully nonlinear controllers for amplitude-sensitive nonlinear plants using sinusoidal-input describing function methods. This work includes the development ...
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In this paper, we report on recent advances in the design of fully nonlinear controllers for amplitude-sensitive nonlinear plants using sinusoidal-input describing function methods. This work includes the development of a new nonlinear controller synthesis approach that includes derivative action in an inner-loop feedback path (nonlinear rate feedback), and its application to a motor + load model with torque saturation and stiction. This approach is capable of treaing nonlinear systems of a very general nature, with no restrictions as to system order, number of nonlinearities, configuration, or nonlinearity type; additionally, the techniques can be generalized for the design of nonlinear controllers of different structures. The end result is a closed-loop nonlinear control system that is relatively insensitive to reference-input amplitude.
Computational architectures for shop floor control in automated job shops and midvolume manufacturing facilities are evolving into three identifiable forms, which are contrasted here. The first architecture, termed th...
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Computational architectures for shop floor control in automated job shops and midvolume manufacturing facilities are evolving into three identifiable forms, which are contrasted here. The first architecture, termed the modular approach, is based on earlier monolithic MRP/order-release systems and is typified by recent CIM (computer-integrated manufacturing) product offerings such as GEs CIMPLICITY. The second architecture is a hierarchical architecture, such as NIST's AMRF (National Institute of Standards and Technology's Automated Manufacturing Research Facility) system. The third architecture is a contract net architecture which is fully decentralized and may be a candidate for future CIM systems. These architectural forms may be distinguished on the basis of the partitioning principles which predominate in their design.< >
This work extends our previous effort in visualizing the spatial aspect of relativistic effects, and treats the phenomenon of time dilation; an inherent temporal effect of special ***, we demonstrate through still-fra...
ISBN:
(纸本)9780897914123
This work extends our previous effort in visualizing the spatial aspect of relativistic effects, and treats the phenomenon of time dilation; an inherent temporal effect of special ***, we demonstrate through still-frame images and live animations that in observing the viewing independent time dilation, the finite light transit time involved in performing the observation makes the observed time dilation also depend on the viewing *** we introduce the physics of special relativity into ray-tracing and make time to pass as a ray travels through space, we are able to link the spatial and temporal dimensions in a fundamental and consistent way in our simulations, and generate images that reveal the spatial and temporal properties of the 4D geometry of *** exploration highlights the interplay of the imaging process and the imaged physical events in producing the final images. It reveals a richly detailed physical reality which the mathematical language of thought experiment in relatively does not directly provide.
The objective of this study is to develop a method for mobile robot motion planning in the presence of moving obstacles. The concept of traversability vectors is used to analyze the spatial relationship between the ro...
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The objective of this study is to develop a method for mobile robot motion planning in the presence of moving obstacles. The concept of traversability vectors is used to analyze the spatial relationship between the robot and moving obstacles. Given a predefined path, the occupancy of the path by moving obstacles can be detected and registered on the constraint map. Obstacles on this map represent time constraints on the robot motion along the path. A search algorithm is then developed to coordinate the robot motion. Simulation results for this approach are discussed.< >
The authors extend their previous effort in visualizing the spatial aspect of relativistic effects, and treat the phenomenon of time dilation, an inherent temporal effect of special relativity. Here, the authors demon...
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The authors extend their previous effort in visualizing the spatial aspect of relativistic effects, and treat the phenomenon of time dilation, an inherent temporal effect of special relativity. Here, the authors demonstrate through still-frame images and live animations that, in observing the viewing-independent time dilation, the finite light transit time involved in performing the observation makes the observed time dilation also depend on the viewing condition. As the authors introduce the physics of special relativity into ray-tracing and make time to pass as a ray travels through space, they are able to link the spatial and temporal dimensions in a fundamental and consistent way in their simulations, and generate images that reveal the spatial and temporal properties of the 4D geometry of spacetime. The present exploration highlights the interplay of the imaging process and the imaged physical events in producing the final images.< >
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