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Factorization method for multiple perspective views via iterative depth estimation

systems and Computers in Japan 2000年第13期31卷 87-95页

作者： Ueshiba, Toshio Tomita, Fumiaki Electrotechnical Laboratory Tsukuba 305-8568 Japan Department of Electrical Engineering University of Tokyo Electrotechnical Laboratory Min. of Intl. Trade and Industry Intelligent Systems Division Canada Nat. Inf. Eng. Lab. Information Processing Society Robotics Society of Japan Soc. of Instrum. Control Engineers Department of Control Engineering Osaka University CMU Department of Computer Science Information Processing Society Robotics Society of Japan

This paper proposes a factorization method that reconstructs camera motion and scene shape based on the matching of multiple images under the condition that the camera captures a perspective view. Starting from the affine projection camera model, the projection depth is iteratively estimated until the measurement matrix has rank 4. Then, the obtained measurement matrix is factorized to restore the three-dimensional information of the scene in the projection space. This approach eliminates noise sensitive processes, such as the calculation of the fundamental matrix, that are required in the factorization for the conventional perspective projection image, and a stable reconstruction is realized. Furthermore, the metric constraint in the conventional affine model is extended, and the metric constraint in the perspective projection condition is derived. It is shown that the reconstruction in Euclidean space is realized if the internal parameters of the camera are given.

关键词： Image reconstruction

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Modeling and Inverse Model-Based control of an Electro-Mechanical Brake Actuator

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IFAC Proceedings Volumes 2000年第26期33卷 39-44页

作者： E.G.M. Holweg R.L. Klomp J.B. Klaassens E.A. Lomonova SKF Engineering and Research Centre B.V. PO Box 2350 3450 DT Nieuwegein The Netherlands Tel: +31 30 6075882 Delft University of Technology Faculty of Information Technology and Systems Department of Electrical Engineering Control Laboratory PO Box 5031 2600 GA Delft The Netherlands

The SKF engineering & Research Centre is active in the field of the development of a brake-by-wire system. The spindle converting the rotational motion of the electrical machine into a linear movement, is seen as the central part of the system. Models and control algorithms are developed focusing on the use of SKF bearing encoders to be used as feedback sensor for the actual brake force and brake-pad wear. This paper presents a detailed model of a brake-by-wire system focusing on modeling the various types of friction and non-linearities of the individual components. An investigation of an inverse model-based friction-compensating control strategy designed to improve the positioning-tracking performance of the brake-pad is made and experimental results are shown.

关键词： brake-by-wire model-based control simulation friction bearing brushless DC motor automotive

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3D modeling visualization for studying controls of the jumbo container crane

3D modeling visualization for studying controls of the jumbo...

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American control Conference (ACC)

作者： J.B. Klaassens G. Honderd A. El Azzouzi Ka C. Cheok G.E. Smid Faculty of Information Technology and Systems Control Laboratory Delft University of Technnology Netherlands Department of Electrical and Systems Engineering Rochester MI USA

The jumbo container cranes at the European Container Terminal in Rotterdam are subject of a long term study to automate the international seaport and make container handling more efficient. In the paper appropriate details of the 3D dynamical behavior of the container is modeled. Simulation and visualization are carried out to study the crane behavior under disturbing conditions like unbalanced center of gravity and varying side winds. The software is used to evaluate time-optimal trajectories and control schemes for the dynamics of the electrical drives, and of the swing and skew of the container.

关键词： Visualization Containers Cranes Cables Gravity Motion control Acceleration information technology Automatic control control systems

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Using front and back information for tight vehicle following maneuvers

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IEEE Transactions on Vehicular Technology 1999年第1期48卷 319-328页

作者： Y. Zhang B. Kosmatopoulos P.A. Ioannou C.C. Chien Center for Advanced Transportation Technologies Department of Electrical Engineering Systems University of Southern California Los Angeles CA USA Department of Electronics Control Division of Information Storage Opto-Electrons System Laboratory Industrial Research Institute Hsinchu Taiwan

During manual driving, most human drivers often use information about the speed and position of the preceding and following vehicles in order to adjust the position and speed of their vehicles. The purpose of this paper is to design an autonomous intelligent cruise control (AICC) which mimics this human driving behavior. The proposed AICC law uses relative speed and spacing information from the preceding and following vehicles in order to choose the proper control action for smooth vehicle following and for maintaining a desired intervehicle spacing specified by the driver. The vehicle stability and platoon stability (in the case of multiple vehicles) in both directions (backward and forward) are guaranteed by the proposed AICC law. Furthermore, platoon stability is guaranteed for a speed-dependent desired spacing (time headway approach) as well as for a constant desired spacing at all speeds.

关键词： Intelligent control Intelligent vehicles Remotely operated vehicles Mobile robots Vehicle driving Stability Vehicle safety Automatic control Humans control systems

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A sensitivity-based analysis of weighted fuzzy aggregation

A sensitivity-based analysis of weighted fuzzy aggregation

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1998 IEEE International Conference on Fuzzy systems, FUZZY 1998

作者： Kaymak, U. Lemke, Nauta Den Boer, T. Faculty of Information Technology and Systems Department of Electrical Engineering Control Laboratory Delft University of Technology Mekelweg 4 DelftGA2600 Netherlands

ISBN: (纸本)078034863X

Weighted aggregation of information in fuzzy set theory is considered The weighted aggregation plays an important role, especially in fuzzy decision making, where the decision criteria can have different degrees of importance. The weight factors, however, can not be used with most aggregation operators such as t-norms and t-conorms that are used in fuzzy set theory. The paper introduces a general framework based on sensitivity analysis for extending fuzzy set aggregation operators to their weighted counterparts. As an example, the framework is applied to the extension of t-norms to their weighted counterparts. It is shown that some of the methods that have been suggested in literature for weighted aggregation with t-norms apply only in particular situations. Conditions are given under which the previously proposed methods are valid. © 1998 IEEE.

关键词： Sensitivity analysis

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A sensitivity-based analysis of weighted fuzzy aggregation

A sensitivity-based analysis of weighted fuzzy aggregation

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IEEE International Conference on Fuzzy systems (FUZZ-IEEE)

作者： U. Kaymak H.R. van Nauta Lemke T. den Boer Shell International Exploration and Production Rijswijk Netherlands Faculty of Information Technology and Systems Department of Electrical Engineering Control Laboratory Delft University of Technnology Delft Netherlands

关键词： Fuzzy set theory Fuzzy sets Decision making Sensitivity analysis information technology control systems Laboratories Set theory Fuzzy systems Aggregates

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Royal Academy of Medicine in Ireland - Section of Bioengineering - Proceedings of meeting held in Dundalk, Co. Louth, in February 1998.

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IRISH JOURNAL OF MEDICAL SCIENCE 1998年第4期167卷 256-276页

作者： [Anonymous] Orthopaedic Research Unit The Queen’s University of Belfast School of Biomedical Sciences The Queen’s University of Belfast Howmedica International Ltd. Raheen Industrial Estate Limerick Department of Mechanical Engineering Trinity College Dublin 2 Mater Hospital Dublin 7 Orthopaedic Research Laboratory Århus University Hospital Denmark University of Limerick Limerick Limerick Regional Hospital Raheen Limerick Boston Scientific Ireland Ltd. Galway Department of Mechanical Engineering University College Dublin Dublin Department of Electrical and Electronic Engineering University College Dublin Dublin Bioengineering Research Centre Department of Mechanical Engineering University College Dublin Dublin Northern Ireland Bio-Engineering Centre (NIBEC) School of Electrical and Mechanical Engineering University of Ulster Newtownabbey Department of Mechanical & Manufacturing Engineering The Ashby Building The Queen’s University of Belfast Johnson and Johnson Professional Orthopaedic Division Queensway England Department of Cardiology and Department of Medical Physics & Bioengineering St. James’s Hospital Dublin 8 Burke House Ellison Street Castlebar Royal College of Surgeons in Ireland Department of Surgery Beaumont Hospital Dublin Department of Electronic and Electrical Engineering Trinity College Dublin 2 Department of Aeronautical Engineering The Queen’s University of Belfast Vascular Unit Belfast City Hospital Department of Medical Physics and Bioengineering St. James’s Hospital Dublin 8 Centre for Biomedical Electronics Department of Electronic and Computer Engineering University of Limerick Limerick Department of Mechanical and Aeronautical Engineering University of Limerick Limerick School of Health Sciences University of Ulster Ireland School of Physiotherapy University of Ulster Newtownabbey Clinical Engineering NI Medical Physics Agency Belfast and Radiology Royal Victoria Hospital Musgrave Park Hospital University of Limerick Biomedical Institute (ULBMI) Uni

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FPGA-based implementation of Synchronous Petri Nets

FPGA-based implementation of Synchronous Petri Nets

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International Conference on Industrial Electronics, control and Instrumentation

作者： Naehyuck Chang Wook Hyun Kwon Jaehyun Park Control Information Systems Laboratory School of Electrical Engineering Seoul National University Seoul Department of Industrial Automation Engr Inha University Ichon South Korea

ISBN: (纸本)0780327756

This paper describes a flexible and systematic implementation method of Petri Nets that can be applied to high speed parallel control. This paper suggests a hard-wired implementation for a high frequency clock-driven system with little jitter. To implement Petri Nets with synchronous (clock-driven) digital circuits, a Synchronous Petri Net is proposed. The suggested implementation method is based on a regular cell-array such as FPGA (field programmable gate array). Radix-k Petri Net and Radix-k conversion are defined to solve technology mapping problem of FPGA that consists of k-size cells. Cell usage, cell utilization, cell complexity, and speed index are defined and derived, which are used for quantitative analysis and efficient design. To help the design process, necessary CAD tools such as design entry library, hard-macro library, and net-list converter are developed. The suggested method is demonstrated using Xilinx FPGA, and its operation is verified by computer simulations.

关键词： Petri nets Field programmable gate arrays Clocks Libraries control systems Frequency Jitter Digital circuits Process design Design automation

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Composition of Conflict-Free Petri Net Models for control of Flexible Manufacturing systems

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IFAC Proceedings Volumes 1996年第1期29卷 547-552页

作者： B. Hrúz A.J. Niemi T. Virtanen Slovak Technical University Faculty of Electrical Engineering and Information Technology Department of Automatic Control Systems Ilkovicova 3 812 19 Bratislava Slovak Republic phone: +42 -7-791698 Helsinki University of Technology Department of Information Technology Control Engineering Laboratory Otakaari 5A FIN-02150 Espoo Finland phone: +358-0-4513334

An approach using Petri nets to modelling and control of flexible manufacturing systems (FMS) is worked out in the paper. A class of Petri nets suitable for the modelling of FMS and for the design of their control is formulated. In the Petri net models not only conflicts due to mutual exclusions of the shared system resources but conflicts of branching operations are analyzed and solved, as well. Models of FMS suitable for system performance analysis and control design are built up of a set of elementary building blocks proposed in the paper. Analysis, modelling method and control design is developed on the background of a pilot experimental FMS developed at the Helsinki University of Technology.

关键词： Discrete event dynamic systems flexible manufacturing systems Petri nets control oriented models

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Reliability evaluation of highly reliable computer control systems for energy generation, transmission and distribution

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EUROPEAN TRANSACTIONS ON electrical POWER 1996年第2期6卷 111-118页

作者： Kochs, HD Dieterle, W Dittmar, E [?]Prof. Dr.-Ing. Hans-Dieter Kochs (1943) VDE is head of the Department of Computer Science and Information Processing Systems at the Gerhard Mercator-University of Duisburgl Germany. He received the Dip1.-Ing. degree in Electrical Engineering and the Dr.-Ing. degree from the RWTH Aached Germany in 1972 and 1976 respectively. From 1979 to 1991 he was system engineer and division leader in the areas of R & D of highly-reliable large-scale control and information systems (AEGIDaimler FAG-Kugelfischer). Since 199 1 he has been Professor at the University of Duisburg. His current R & D areas are reliability safety and fault tolerance of technical systems especially automation systems and hybridknowledge based systems including fuzzy-logic and neural networks. (Gerhard-Menxitor-University-GH Duisburg FB 71FG 10 Lotharstr. 1 D-47048 Duisburg T +49203/379-2204 Fax +49203I379-2205)

The paper presents the results of an application-based reliability study of distributed computer control systems with very high reliability demand, e.g. for supervision and control of power plants and energy distribution systems. A reliability classification scheme is presented and typical redundant control system structures are evaluated and classified due to their system reliability Special focus is placed on assessing the influence of the communication system on total system reliability.

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