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Real-time visual tracking insensitive to three-dimensional rotation of objects 1st

1st IEEE International Workshop on Biologically Motivated computer Vision, BMCV 2000

作者： Cho, Young-Joo You, Bum-Jae Lim, Joonhong Oh, Sang-Rok Intelligent System Control Research Center Korea Institute of Sci and Tech P.O. Box 131 Cheongryang Seoul130-650 Korea Republic of School of Electrical Engineering and Computer Science Hanyang University Sa-1 dong 1271 Ansan Kyungki-do425-791 Korea Republic of

ISBN: (纸本)3540675604

Visual tracking is essential for many applications such as vision-based control of intelligent robots, surveillance, agriculture automation, medical image processing, and so on. Especially, a fast and reliable visual tracking is important since the performance of visual tracking determines the reliability and real-time characteristics of overall system. It is not easy in visual tracking, however, to estimate the configuration of a target object in real-time when the three-dimensional pose of the target object is changing. On the contrary, a human being is able to track an object without the estimation of three-dimensional pose of the object even though three-dimensional rotations and /or occlusion by other objects change the original image of the object. This paper proposes a fast and reliable SSD-based visual tracker insensitive to three-dimensional rotation of an object as well as translation, two-dimensional rotation, scaling, and shear of an object by proposing a performance measure for distortion of current image with respect to an original reference image. The performance measure is a combination of aspect ratio of a rectangle, variations of four internal angles of the rectangle from ninety degrees, the direction of rotation and the angular velocity of the rectangle. So, the reference image for visual tracking is updated whenever the performance measure is greater than an initialized distortion rate without the estimation of three-dimensional pose of an object. The algorithm is experimented in real-time successfully at a personal computer adopted with a general-purpose frame grabber. © Springer-Verlag Berlin Heidelberg 2000.

关键词： Intelligent robots

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The application of multilayer dynamic forward net in predicting of oil field system

The application of multilayer dynamic forward net in predict...

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World Congress on Intelligent control and Automation (WCICA)

作者： Chen Lizhi Mao Zhangqing Liu Tienan Qiu Haiping Zhang Quan Department of Computer Science University of Science and Technology Hefei China Department of Control Engineering Daqing Petroleum Institute Anda Heilongjiang China Science Research Department Architecture Material Company Daqing China

In order to eliminate limitations of conventional modeling and dynamic prediction methods, multilayer dynamic forward networks are considered as the models of oil field systems, the prediction models and technology of multilayer dynamic forward networks are studied. The deficiency of a recursive prediction error learning algorithm is analysed. An improvement scheme is given. So, the algorithm performance is improved. Thus the method of modeling and prediction for an oil field is renewed. During using the new scheme, excellent results have been obtained which proves that the new scheme is very effective.

关键词： Nonhomogeneous media Predictive models Petroleum Prediction algorithms Intelligent control Automation Application software computer science Materials science and technology Automated highways

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Algorithm for Three-Step Estimation of Transfer Function with Unknown Delay Steps and Order

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IFAC Proceedings Volumes 2000年第15期33卷 373-378页

作者： Mitsuki Mashino Fujio Ohkawa Kazushi Nakano Masayoshi Tomizuka Mechanics & Electronics Research Institute Fvkuoka Industrial Technology Center 3-6-1 Norimatsu Yahatanishi-ku Kitakyushu 807-0831 JAPAN Dept. of Control Engineering and Science Faculty of Computer & System Engineering Kyushu Institute of Technology Kawazu Iizuka 820-8502 JAPAN Dept. of Electronic Engineering The University of Electro- Communicatons 1-5-1 Chofu-ga-oka Chofu Tokyo 182-8585 JAPAN Dept. of Mechanical Engineering University of California at Berkeley 5100 B Etcheverry Hall Berkeley CA 94720-1740 USA

This paper deals with the estimation of an unknown process transfer function in the presence of colored measurement noise. A three-step estimation procedure has been previously developed for transfer functions, the delay steps and the orders of which are known in advance. The procedure is extended to deal with transfer functions with unknown delay steps and orders. The auto-correlation function of the error between the process output and model output is utilized for evaluating the model fitness. The effectiveness of the proposed method is demonstrated by a simulation study using a sample set of data in MATLAB.

关键词： colored noise I/O correlation information BCLS estimates parameter transformation MSE

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A graphical environment for the specification and verification of reactive systems 18th

A graphical environment for the specification and verificati...

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18th International Conference on computer Safety, Reliability and Security, SAFECOMP 1999

作者： Bhattacharjee, A.K. Dhodapkar, S.D. Seshia, Sanjit Shyamasundar, R.K. Reactor Control Division Bhabha Atomic Research Centre Mumbai400 025 India School of Technology and Computer Science Tata Institute of Fundamental Research Mumbai400 005 India School of Computer Science Carnegie Mellon University PittsburghPA15217 United States

ISBN: (纸本)3540664882

In this paper, we describe the design and implementation of an environment for the specification, analysis and verification of reac- tive systems. The environment allows the user to develop specification in the graphical formalism of Statecharts [1] and a built-in translator tool translates the specification into Esterel [3] program. Through such an approach, we have been able to integrate the powerful graphical formal- ism of Statecharts, which is very appealing to engineers, and the power of formal verification environments for Esterel. Since we translate Stat- echarts, which can be nondeterministic, to Esterel programs which are fully deterministic, the system overcomes the nondeterminism in the specifications by enforcing priority. The behaviour of Esterel programs generated by the translator follows the Statechart step semantics [2]. In the paper, we describe the main components of the environment, the principles underlying the translation and illustrate the use of the system for the specification and verification using an example. © Springer-Verlag Berlin Heidelberg 1999.

关键词： Specifications

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Sequential display of multimedia instructions: effect on users' understanding

Sequential display of multimedia instructions: effect on use...

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IEEE International Conference on Multimedia Computing and Systems (ICMCS)

作者： M. Betrancourt INRIA Rhône-Alpes National Institute for Research in Computer Science and Control Montbonnot France

As computerized documents proliferate in every activity area, the instructional domain has been overwhelmed with multimedia learning tools that make an extensive use of fancy graphics and animations. However, their design is usually based on intuition rather than on empirical evidence, and little, if nothing, is known about their actual effect on users. Our research investigates how dynamic options in multimedia documents affect users' understanding and memorization processes. We focused on a device called "sequential display", where clusters of information in a single document are displayed gradually in a meaningful sequence. The results of a preliminary experiment showed that the users memorized the organisation used to display the document. Moreover, this organization affects their performance in further problem solving situations. Thus, these findings suggest that dynamic features may be effective instructional devices, providing that their use is based on actual results from the cognitive and educational research.

关键词： Animation computer displays Cognitive science computer science computer aided instruction computer graphics Problem-solving Application software Human computer interaction Performance analysis

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A translation of statecharts to esterel 1

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1st World Congress on Formal Methods in the Development of Computing Systems, FM 1999

作者： Seshia, S.A. Shyamasundar, R.K. Bhattacharjee, A.K. Dhodapkar, S.D. School of Technology and Computer Science Tata Institute of Fundamental Research Mumbai400 005 India Carnegie Mellon University Pitts-burghPA15217 United States Reactor Control Division Bhabha Atomic Research Centre Mumbai400 025 India

ISBN: (数字)9783540481188

ISBN: (纸本)3540665889

Statecharts and ESTEREL are two formalisms that have been widely used in the development of reactive systems. Statecharts are a powerful graphical formalism for system specification. ESTEREL is a rich synchronous programming language with supporting tools for formal verification. In this paper, we propose a translation of Statecharts to ESTEREL and discuss such an implementation. A characteristic feature of the translation is that deterministic Statechart programs can be effectively translated to ESTEREL and hence, the tools of verification of ESTEREL can be used for verifying Statechart programs as well. The translation serves as a diagnostic tool for checking nondeterminism. The translation is syntax-directed and is applicable for synchronous and asynchronous (referred to as the superstep model) models. In the paper, we shall describe the main algorithms for translation and implementation and illustrate the same with examples. We have built a prototype system based on the translation. It has the advantages of the visual power usually liked by engineers reflected in Statecharts and of a language that has a good semantic and implementation basis such as ESTEREL that can be gainfully exploited in the design of reliable reactive systems. © Springer-Verlag Berlin Heidelberg 1999.

关键词： Semantics

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ON THE CLIQUE–WIDTH OF GRAPH WITH FEW P4'S

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International Journal of Foundations of computer science 1999年第3期10卷 329-348页

作者： J. A. MAKOWSKY U. ROTICS Department of Computer Science Technion-Israel Institute of Technology 32000 Haifa Israel Partially supported by a Grant of the Israeli Ministry of Science for French-Israeli Cooperation (1994) a Grant of the German-Israeli Binational Foundation (1995-1996) and by the Fund for Promotion of Research of the Technion–Israeli Institute of Technology.

Babel and Olariu (1995) introduced the class of (q, t) graphs in which every set of q vertices has at most t distinct induced P 4 s. Graphs of clique-width at most k were introduced by Courcelle, Engelfriet and Rozenberg (1993) as graphs which can be defined by k-expressions based on graph operations which use k vertex labels. In this paper we study the clique–width of the (q, t) graphs, for almost all possible combinations of q and t. On one hand we show that every (q, q - 3) graph for q ≥ 7, has clique–width ≤ q and a q–expression defining it can be obtained in linear time. On the other hand we show that the class of (q, q - 3) graphs for 4 ≤ q ≤ 6 and the class of (q, q - 1) graphs for q ≥ 4 are not of bounded clique-width.

关键词： Clique–width 2–color width (q,q - 3) graphs square grids

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Suboptimal control of linear systems with state time-delay

Suboptimal control of linear systems with state time-delay

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IEEE International Conference on Systems, Man and Cybernetics

作者： Gong-You Tang Zhi-Wei Luo Department of Computer Science Ocean University of China Qingdao China Bio-Mimetic Control Research Center (RIKEN) Institute for Physical and Chemical Research Nagoya Japan

In this paper, we consider the problems of suboptimal control for a class of linear systems with a constant state time-delay. We develop the method of suboptimal control based on sensitivity parameter. The two-point boundary value problem with not only time-delay terms but also time-advance terms is translated into infinite two-point boundary value problems without time-delay and time-advance terms. Through intercepting frontal finite terms of the optimal series solution, we obtain a suboptimal control law. Number of the term intercepted is dependent on the size of the time-delay. The method is especially suitable for the synthesis of small time-delay systems. The arithmetic of solving the suboptimal control law is given. The simulation results show the effectiveness of our method.

关键词： control systems Linear systems Boundary value problems Optimal control control system synthesis Vectors Delay computer science Oceans Chemical engineering

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Model-based 3D object tracking using projective invariance

Model-based 3D object tracking using projective invariance

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Sung-Woo Lee Bum-Jae You G.D. Hager Intelligent System Control Research Center Korea Institute of Science and Technology Seoul South Korea Department of Computer Science Yale University New Heaven CT USA

This paper describes a method of 3D object tracking by projective invariance. Usually, projective invariance has been used for object recognition and its property discards the need for cumbersome camera calibration to obtain metric information. We focus on the fact the projective invariance is not only regarded as recognition cues but also able to verify, the status of a 3D object for visual tracking. With projective invariance relevant to points, we develop a fast and reliable visual tracking strategy by combining a recognition module using projective invariance, window-based corner trackers for object's center tracking and a visibility checking module. The proposed method is experimented in single IBM-PC platform successfully.

关键词： Object oriented modeling Cameras Optical filters Calibration Image motion analysis Target tracking Intelligent systems Intelligent control control systems computer science

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Dynamic process initial conditions in repetitive processes. controllability and stability analysis

Dynamic process initial conditions in repetitive processes. ...

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1999 Information, Decision and control, IDC 1999

作者： Galkowski, K. Rogers, E. Gramacki, A. Gramacki, J. Owens, D.H. Technical University of Zielona Gora Institute of Robotics and Software Engineering Zielona Gora Poland University of Southampton Image Speech and Intelligent Systems Research Group Department of Electronics and Computer Science SouthamptonSO17 lBJ United Kingdom University of Exeter Centre for Systems and Control Engineering School of Engineering ExeterEX4 4QF United Kingdom

ISBN: (纸本)0780352564

Repetitive, or multipass, processes are a class of 2D systems of both practical and algorithmic/theoretical interest whose dynamics cannot be analysed or controlled using standard (1D) systems theory. Recently it has been shown that the modelling of the boundary conditions, also known as the process initial conditions, is a crucial feature in the analysis and control of these processes. This paper presents some further results on the effects of so-called 'dynamic' process initial conditions on the controllability and stability properties of discrete linear repetitive processes. Previous work has shown that these dynamic process initial conditions alone can destroy the stability properties of these processes. Hence their effects must be 'adequately' accounted for the process modelling stage in order to ensure that subsequent analysis does not lead to incorrect results/conclusions. The main results developed in this paper can be summarised as follows. (i) Computationally efficient stability tests which can, in effect, be applied using standard, or 1D, linear systems tests. (ii) Characterisation of so-called pass controllability in the form of matrix rank based conditions. (iii) Conditions under which the dynamic process initial conditions can be selected to ensure stability and pass controllability. © 1999 IEEE.

关键词： controllability

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