Experimental results for end-point positioning of multilink flexible manipulators are considered. This control strategy has been implemented on an experimental test-bed developed in the authors' Laboratory. The ad...
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Experimental results for end-point positioning of multilink flexible manipulators are considered. This control strategy has been implemented on an experimental test-bed developed in the authors' Laboratory. The advocated approach is based on a two-stage control design. The first stage is an inner-loop nonlinear-based controller corresponding to the rigid body motion of the manipulator. The second stage is an outer control loop based on linear output LQR design. The outer-loop control design results in a nonconvex nonlinear optimization problem. A software package has been developed to solve this problem. The outer-loop controller enhances vibration damping and robustness of the closed-loop dynamics to parameter variations. The measurement utilized for vibration suppression is through an accelerometer attached at the end point of the manipulator.< >
Algorithms for robotic real-time visual tracking of arbitrary 3-D objects traveling at unknown velocities in a 2-D space are presented. The problem of visual tracking is formulated as a problem of combining control wi...
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Algorithms for robotic real-time visual tracking of arbitrary 3-D objects traveling at unknown velocities in a 2-D space are presented. The problem of visual tracking is formulated as a problem of combining control with computer vision. A mathematical formulation that is general enough to be extended to the problem of tracking 3-D objects in 3-D space is presented. The authors propose the use of sum-of-squared differences optical flow for the computation of the vector of discrete displacements each instant of time. These displacements can be fed either directly to a PI controller, a pole assignment controller, or a discrete steady-state Kalman filter. In the latter case, the Kalman filter calculates the estimated values of the system's states and exogenous disturbances, and a discrete LQG controller computes the desired motion of the robotic system. The outputs of the controllers are sent to a Cartesian robotic controller that drives the robot.< >
An approach to intelligent PID (proportional integral derivative) control of industrial systems which is based on the application of fuzzy logic is presented. This approach assumes that one has available nominal contr...
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An approach to intelligent PID (proportional integral derivative) control of industrial systems which is based on the application of fuzzy logic is presented. This approach assumes that one has available nominal controller parameter settings through some classical tuning technique (Ziegler-Nichols, Kalman, etc.). By using an appropriate fuzzy matrix (similar to Macvicar-Whelan matrix), it is possible to determine small changes on these values during the system operation, and these lead to improved performance of the transient and steady behavior of the closed-loop system. This is achieved at the expense of some small extra computational effort, which can be very easily undertaken by a microprocessor. Several experimental results illustrate the improvements achieved.< >
The Laplacian of Gaussian (LoG) operator is one of the most popular operators used in edge detection. This operator, however, has some problems: zero-crossings do not always correspond to edges, and edges with an asym...
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The Laplacian of Gaussian (LoG) operator is one of the most popular operators used in edge detection. This operator, however, has some problems: zero-crossings do not always correspond to edges, and edges with an asymmetric profile introduce a symmetric bias between edge and zero-crossing locations. The authors offer solutions to these two problems. First, for one-dimensional signals, such as slices from images, they propose a simple test to detect true edges, and, for the problem of bias, they propose different techniques: the first one combines the results of the convolution of two LoG operators of different deviations, whereas the others sample the convolution with a single LoG filter at two points besides the zero-crossing. In addition to localization, these methods allow them to further characterize the shape of the edge. The authors present an implementation of these techniques for edges in 2-D images.< >
A decentralized adaptive control is proposed to stabilize and track the nonlinear interconnected subsystems with unknown parameters. The adaptation of the controller gain is derived by using model reference adaptive c...
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A decentralized adaptive control is proposed to stabilize and track the nonlinear interconnected subsystems with unknown parameters. The adaptation of the controller gain is derived by using model reference adaptive control theory based on Lyapunov's direct method. The adaptive gains consist of sigma , proportional, and integral combination of the measured and reference values of the corresponding subsystem. The proposed control is applied to the joint control of a two-link robot manipulator, and the performance in computer simulation corresponds with what is expected in theoretical development.< >
This volume constitutes the refereed proceedings of the 4th Iberian Conference on Pattern Recognition and Image Analysis, IbPRIA 2009, held in Póvoa de Varzim, Portugal in June 2009. The 33 revised full papers an...
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ISBN:
(数字)9783642021725
ISBN:
(纸本)9783642021718
This volume constitutes the refereed proceedings of the 4th Iberian Conference on Pattern Recognition and Image Analysis, IbPRIA 2009, held in Póvoa de Varzim, Portugal in June 2009. The 33 revised full papers and 29 revised poster papers presented together with 3 invited talks were carefully reviewed and selected from 106 submissions. The papers are organized in topical sections on computer vision, image analysis and processing, as well as pattern recognition.
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